Proposal for final project - Distributed Clock System and EtherCAT P

1. Name: Tony-Chen, 陳禹同
Student ID: B10502034

3.  To have low jitter(less than 1 μs) without
additional hardware, EtherCAT use
“Distributed Clock” to achieve the aim.
 This technology makes each slave add
“receive message” as the timestamp into the
frame.
 When master get back the frame, it can know
the accurate delay for each node.

4.  In Distributed Clock System, each slave “latch”
the value of their internal clock twice, once
when the frame is received and once when it
returns.
 Then master can calculate all latched value to
know each slave’s delay, and let first slave’s
internal clock as the reference clock, then
other slave nodes will be forced to adjust their
internal clock to meet with synchronization
according reference clock.

5. EtherCAT P(P is power) transmits
communication data and power in the
single cable, which reduced cabling, cost-
effective wiring and lower system costs.

6. • [1]
http://ethercat.org/forms/france2016/download/09_EtherCA
T_and_Industrie40_IoT_1609.pdf
• [2] https://www.ethercat.org/en/technology.html
• [3] https://www.slideshare.net/elmomc2012/multi-
axispositioncontrolbyether-catrealtimenetworking
• [4] https://www.pc-
control.net/pdf/032018/technology/pcc_0318_real-time-
communication_e.pdf
• [5] http://52.28.55.137/download/document/io/infrastructure-
components/CU2508en.pdf
• [6] https://www.youtube.com/watch?v=tYAl2jkaB8Q