The document outlines a webinar on the synchronization of EtherCAT systems using distributed clocks, focusing on how the distributed clocks (DC) synchronization method operates and its benefits. It discusses the principles, functionality, and practical applications of DCs, including how EtherCAT enables tight synchronization among devices for improved performance in real-time systems. Key features and mechanisms for achieving synchronization, such as propagation delay measurement and drift compensation, are also covered.

1. Accurate Synchronization of EtherCAT
Systems Using Distributed Clocks

2. Before We Start
 This webinar will be available afterwards at
designworldonline.com & via email
 Q&A at the end of the presentation
 Hashtag for this webinar: #DWwebinar

3. Moderator
Presenter
Leslie Langnau
Joey Stubbs
Design World
EtherCAT Technology Group

4. Accurate Synchronization of EtherCAT
Systems Using Distributed Clocks
Joseph E Stubbs, PE, PMP
EtherCAT Technology Group

5. Purpose of this presentation
• Gain a basic understanding of how the Distributed Clocks
(DC) synchronization method of EtherCAT works.
• Understand how devices designed with EtherCAT DCs can
benefit the user.

6. Agenda
•
•
•
•
“Distributed Clocks” definition
Important EtherCAT functional principles
Overview of DC functionality
How it works
o
o
o
o
o
Propagation delay measurement
Setting of Reference Clock
Setting of Slave Clocks
Drift compensation
Master compensation (shift time)
• Practical applications of DCs in slave devices

7. DCs definition
• In EtherCAT terminology the term “Distributed Clocks”
(DCs) refers to a logical network of synchronized,
distributed local clocks in the EtherCAT fieldbus system.
• By using distributed clocks, EtherCAT, the real-time
Ethernet protocol is able to synchronize the time in all local
bus devices within a very narrow tolerance range, typically
within 100ns.

8. Why Synchronize a Network?
• Common time value in all devices allows synchronous gathering
of input data from devices
o Example -- When device 1 was at position X, device 2 was at position Z.
• Cyclic behavior with tight temporal tolerances
o Example – position control of a drive. Exact position input for each time slice produces
tighter coordinated motion or speed.
o Example – data acquisition at high data rates
• Response to external event
o Example -- Exact time alarm when received can be used to reject bad product
downstream with respect to conveyor speed with little loss of good product
o Example -- “Seeing” events that would be missed in classical scanning of I/O systems
• Response at exact future time
o Example -- All drives begin execution of new command at exact time
o Example -- Simultaneous outputs for devices separated by long distances in same
network

9. Functional Principles
• EtherCAT utilizes several important operating principles
allowing DCs to be implemented efficiently and elegantly
Processing “On the Fly”
Protocol processed in hardware
Fixed frame path for all frames in network in a given topology
Latching of receive times in slave ports and logical processing unit
Instruction set that lends itself to distributing times and offsets easily
A DC unit built-in to the EtherCAT Slave Controller (ESC), which facilitates many of
the functions in hardware
o External interfaces from the DC unit
o
o
o
o
o
o

10. Functional Principle: Ethernet “on the Fly”
Slave Device
Slave Device
EtherCAT Slave
Controller
EtherCAT Slave
Controller
•Process data is extracted and inserted on the fly
•Compilation of process data can change in each cycle, e.g.
ultra short cycle time for axis, and longer cycles for I/O
update possible
•In addition asynchronous, event triggered communication

11. Frame Processing within each node
Master
EtherCAT Segment (Slaves)
IPC
..
..
DVI
From Master
To Master

12. Topology
• Flexible Topology
• Any number of physical layer changes possible
• Up to 65,535 devices within one EtherCAT network possible
Line
Master
Star/Tree
Drop Line

13. Frame Processing
Auto Forwarder and Loop Back
1
Port 3
AutoForwarder
port 3 open
EtherCAT
Processing Unit
port 3 closed
Loopback function
port 2 closed
port 2 open
AutoForwarder
Port 2
AutoForwarder
port 1 open
ET1100
ESC
port 1 closed
Loopback function
Loopback function
port 0 closed
port 0 open
or all ports
closed
Port 0
AutoForwarder
Loopback function
1
Port 1

14. Important things to keep in mind
• Only the EtherCAT master (controller) can create a frame
• Slaves can only modify the frame(s)
• The frame is not actively routed to a particular node. The
frame travels through the entire network regardless of
which node is addressed within the frame.
• One frame can service an entire network. Multiple frames
can be sent out back-to-back to service larger networks
which exceed 1500 bytes in data length.

15. Frame Processing Order on the System
EtherCAT Segment
Master
Cable
EtherCAT Frame Path

16. EtherCAT Commands
• Broadcast Read Actions
o Individual Bits of a Byte will be added with a bitwise OR operation between
incoming data and local data
• Read Write Actions
o Exchange of incoming data and local data
(exception: Broadcast – see broadcast read)
• Read Multiple Write Actions (RMW)
o Addressed Station will read, the others will write

17. Distributed Clocks Unit
SPI / µC parallel
Digital I/O
EtherCAT Address Space
IRQ
Sync1 / Latch1
Sync0 / Latch0
Process Data Interface
(PDI)
FMMU n
Sync / Latch Unit
SyncMan
DC
Control
EtherCAT Processing Unit
and Auto-Forwarder with Loop Back
Mag
PHY
Port 2
RJ45
PHY
Port 1
Mag
RJ45
Port 0
Port 3
Offset
System Time
Delay
Distributed Clocks
EtherCAT Slave Controller (ESC)

18. • The following must be handled by the distributed clock
control in the EtherCAT master:
o Propagation delay measurement: Measurement of the offset times depending on
the number of devices, cable lengths, dynamic changes in the configuration, etc.
o Offset compensation of the reference clock relative to the master clock. This is
taken into account during system start-up.
o Offset compensation of each slave relative to the reference clock. After system
startup the local clocks may start with different start values.
o Drift compensation/drift correction. Each slave clock usually has its own source
(quartz, PLL, ...), which means that offset times do not remain constant over a
prolonged period (minutes, days). Drift correction deals with this irregularity.

19. Distributed Clocks – Features
• Definition of a System Time
o
o
o
o
Beginning on Jan. 1, 2000 at 0:00h on power-up
Base unit is 1 ns
64 bit value (enough for more than 500 years)
Lower 32 bits spans over 4.2 seconds
• Normally enough for communication and time stamping
• Definition of a Reference Clock
o One EtherCAT Slave will be used as a Reference Clock
o Reference Clock distributes its Clock cyclically
o Reference Clock adjustable from a “global” Reference Clock – IEEE 1588

20. Propagation Delay Measurement
• Determine differences between the Ref clock and each DC
Ref
slave Port 0 time
S
∆t
IPC
S
S
S
S
S
S

21. DC – Propagation Delay Measurement
• EtherCAT Node measures time difference between leaving and
returning frame
EtherCAT Frame
Processing Direction
EtherCAT Frame
Forwarding Direction

22. Propagation Delay Measurement
•
Registers:
o
o
o
o
o
•
(ADO: 0x0900:0x0903)
(ADO: 0x0904:0x0907)
(ADO: 0x0908:0x090B)
(ADO: 0x090C:0x090F)
(ADO: 0x0928:0x092B)
Write access to Receive Time Port 0 activates latch
o
o
•
•
•
•
Receive Time Port 0
Receive Time Port 1
Receive Time Port 2
Receive Time Port 3
System Time Delay
Latch local time of SOF (Start of Frame)
At EOF (End of Frame) SOF time is copied to Receive Time Port X
Receive Time Port X in local clock units (controlled)
SOF time of all frames are latched on all ports internally
Master reads all time stamps and calculates the delay times with respect to the topology.
Individual delay time is written to register System Time Delay

23. DC – Propagation Delay Measurement
• EtherCAT Node measures time difference between leaving and
returning frame
IPC

24. Propagation Delay Measurement
The differences between the Reference Clock and each DC slave “In” port
is Propagation Delay, called “System Time Delay”.
Ref
This value is
distributed by
the master
stored in the
slave for drift
compensation
calculations
later.
S
∆t
IPC
S
S
S
S
S
S

25. Binding Reference Clock to RTC
• Registers:
o System Time Offset
(ADO: 0x0920:0x927, small systems 0x0920:0x0923)
• Difference between the Master RTC and Reference Clock is
calculated by the master.
• This time is written to register System Time Offset of the
Reference Clock only.

26. Binding Reference Clock to RTC
Master sets Reference clock to RTC (or other source)
RTC
Ref
S
IPC
S
S
S
S
S
S

27. Offset Compensation
• Registers:
o System Time Offset
(ADO: 0x0920:0x927, small systems 0x0920:0x0923)
• Difference between the Reference Clock and every slave
device's clock is calculated by the master.
• The offset time is written to register System Time Offset
• Each slave calculates its local copy of the System time using its
local time and the local offset value:
• tLocal copy of System Time = tLocal time + tOffset

28. Setting individual slaves to Reference Clock
Master calculates offset between Ref Clock and individual local clocks.
Ref
This value is
distributed by
the master
and written to
each slave in
order to bring
all local times
to the same
exact time.
S
IPC
S
S
S
S
S
S

29. Drift Compensation – DC Control
• RMW command (read – multiple write) allows the
master to read System Time of the reference clock
and write it to all slave clocks within a single frame
using the same frame route and therefore the same
propagation delay as the initial measurement.
• DC Control
o Write access to System Time compares
received Time with local time
t = (tLocal time + tOffset - tPropagationDelay) – tReceived System Time
o If (t > 0) then decelerate local clock (each tick counts as less time)
else if (t < 0) accelerate local clock (each tick counts as more time)

30. Drift Compensation
Master commands the Reference clock to distribute its local
time to all nodes occasionally.
Ref
The frequency of
issuing the RMW
command
determines the
amount of drift
allowed in the
system clocks
S
IPC
S
S
S
S
S
S

31. Drift Compensation – DC Control
Because the RMW instruction distributes the reference
clock time each time the instruction is called…
…and because the propagation delay of the system does
not change…
…we do not need to have jitter-free frames to have a
jitter free system!
Therefore, no special master card is required, the master
can be a software stack even for the most tightly
synchronized applications.

32. Long Term Scope View of Two Separated Devices
• 300 Nodes in between, 120m Cable Length
Interrupt
Node 1
Simultaneousness:
~15 ns
Interrupt
Node 300
Jitter: ~ +/-20ns

33. Synchronization of multiple networks
Via boundary clock
M1
M2
M3

34. External Synchronization
Via 1588 Boundary Clock
M Boundary
Clock
S
Master
S
S
S
S
S
S
IEEE 1588
Grandmaster

35. Example features of EtherCAT DCs
• Clock synchronization between the EtherCAT slaves and
the master
• Synchronous generation of local output signals (Sync
signals)
• Precise time stamping of input signals (Latch signals)
• Generation of synchronous interrupts to local
microprocessors (IRQ signals)

36. Action based on specified time: Sync 0/1
• The distributed clock unit in the ESC
usually features 2 pins that can be
triggered time-controlled. SYNC0 and
SYNC1.
• In this case the compare unit in the ESC
would be active: If the local distributed
clock time matches a user-defined enable
time the ESC triggers the associated Sync
pin(s).
• This behaviour can be set up to be single
shot or cyclic, with or without an
acknowledge.
PDI IRQ
Sync0
Sync1
Sync Unit
Latch Unit
DC
Control
Offset
System Time
Delay
Distributed Clocks

37. Reaction to an external signal - Latch 0/1
• If an ESC is configured accordingly it can store
the current local time if an external event
occurs, i.e. it can place it into a buffer without
delay using a capture unit.
• Can be configured for rising and/or falling
edge, and single event or continuous latch
• Examples for such external events are edge on
a dedicated pin of the ESC (Latch 0/1), arrival
of the EtherCAT frame, end of the EtherCAT
frame, communication with a connected
microcontroller, and a wide range of other
options.
Latch0
Latch1
Sync Unit
Latch Unit
DC
Control
Offset
System Time
Delay
Distributed Clocks

38. Example of Latch and Sync Use
1 + Tx 1 +Ty
1 + T1 1 +T2
IN
Latch
Timestamp
Constant
OUT
Timestamp
?
OUT
“Classical
Controls”
Constant
1 + Tz
1 + T3

39. Connection to an External Logic - SPI/µC
Parallel/IO/IRQ
PDI IRQ
•
•
•
An ESC can not only be used as a stand-alone
unit, it also has interfaces for communicating
with other electronic units such as a
microcontroller or other driver circuitry.
Communication via these interfaces can also
be controlled via distributed clocks in order to
ensure synchronous, high-precision sampling
of input parameters, or cyclic interrupts
based on a multiple of the base scan rate.
Examples for this use include interfacing to a
microprocessor controlling a power drive,
electronic shaft encoder analyzer, or data
acquisition slaves for condition monitoring.
Sync1
Sync0
Sync Unit
Latch Unit
DC
Control
Offset
System Time
Delay
Distributed Clocks

40. Example of IRQ Use with a µC -- Oversampling
Oversampling – fast measurements
Measurement cycle
Base Network cycle
23.10.2012
41
o Fast signal sampling
o Analog value recording (input)
o Analog value generation (output)
Base Network cycle

41. Distributed Clock shift in Master to Ensure
Frame Arrives Prior to Sync Signal Generation
Local Timer
Local Timer
Application
Application
Master Shift
User Shift Master
Frame
D
U
Frame
D
DC Base
U
Frame Delay
Fixed Shift (precalc.)
Master
Slave
Sync0 Shift
S0
S0
Sync0
Sync0

42. Summary
• Tight clock synchronization between the EtherCAT slaves and
the master is possible without the use of a special fieldbus card
• The DC features of devices are enabled by both the unique
communication principles of EtherCAT and built-in features of
the ESCs.
• Some of the common behaviors built in to devices are:
o Synchronous reading of input signals
o Precise time stamping of input signals (Latch signals)
o Generation of synchronous interrupts to local microprocessors (IRQ signals)

43. Please visit
www.ethercat.org
for more information
EtherCAT Technology Group
Headquarters
Ostendstraße 196
90482 Nuremberg, Germany
Phone:
+49 911 54056 20
Email:
info@ethercat.org
EtherCAT Technology Group
North America
PO Box 1305
Port Orchard, WA 98366
Phone:
1-877-384-3722
Email:
j.stubbs@ethercat.org

44. Questions?
Design World
Leslie Langnau
llangnau@wtwhmedia.com
Phone: 440.234.4531
Twitter: @DW_RapidMfg
EtherCAT Technology Group
Joey Stubbs
j.stubbs@ethercat.org
info@ethercat.org
Phone: 1-877-384-3722

45. Thank You
 This webinar will be available at designworldonline.com & via
email
 Tweet with hashtag #DWwebinar
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