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4. Network synchronization based on distributed clocks

Any slave in the EtherCAT network can be used as reference clock for the whole network. It provides system time. And the distribute clock in slave device synchronizes with the reference clock. It enables slave’s local application to synchronize with reference clock events.
EC-netX50 model achieves the synchronous mode as following. Switching synchronous mode can be controlled by synchronous control register (ESC 0x980 and 0x981).
 Free-Run mode (ESC register 0x981: 0x980 = 0x0000) In this mode, local application cycle, communication cycle and master cycle is independent. DC mode (ESC register 0x981: 0x980 = 0x0300) In this mode, local application is synchronous with Sync0.

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Time schedule figure in DC mode is as follows: 

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