IoDrvEtherCAT.DCPropFactor (PROP) ¶ PROPERTY DCPropFactor : WORD Proportional factor FOR the Distributed Clock control loop. Default: 25

IoDrvEtherCAT.DCSyncToMaster (PROP) ¶ PROPERTY DCSyncToMaster : BOOL Distributed Clock synchronization on the master. If set to TRUE, then all slaves are synchronized to the master instead of synchronization of the first slave to the PLC. Default: FALSE

IoDrvEtherCAT.DCSyncToMasterWithSysTime (PROP) ¶ PROPERTY DCSyncToMasterWithSysTime : BOOL Distributed Clock synchronization on the master. TRUE: All slaves are synchronized to the system time of the master. The time that is read from SysTimeRtcHighResGet is used to distribute the system time of the PLC to all EtherCAT slaves. Default: FALSE

IoDrvEtherCAT.DCSyncToMasterWithSysTimeFrom2000 (PROP) ¶ PROPERTY DCSyncToMasterWithSysTimeFrom2000 : BOOL Distributed Clock synchronization on the master, with time calculated from 1. January 2000 TRUE: All slaves are synchronized to the system time of the master. The time that is read from SysTimeRtcHighResGet is used to distribute the system time of the PLC to all EtherCAT slaves. Default: FALSE

IoDrvEtherCAT.EnableTaskOutputMessage (PROP) ¶ PROPERTY EnableTaskOutputMessage : BOOL EtherCAT signals are normally dispatched by the bus cycle task and additionally from each task that uses slave outputs. In the bus cycle task all outputs are written and all inputs are read. In other tasks the outputs are transferred one more time in order to get them written to the corresponding slaves immediately. In this way an attempt is made to keep the dead time until writing as short as possible. Together with the distributed clocks this can cause problems in some devices, for example if servo controllers are not synchronized with the Sync interrupt, but use the time of writing for internal synchronization. In this case multiple write accesses can occur during a cycle. If EnableTaskOutputMessage is set to FALSE, exclusively the bus cycle task is used. Further tasks will cause no further messages. Default: TRUE

IoDrvEtherCAT.EnableTimeMeasurements (PROP) ¶ PROPERTY EnableTimeMeasurements : BOOL Enables or disables time statistics measurements for average and maximum time in GetStatistics method Enable it only when really required as the cycle time will increase for the calulations

IoDrvEtherCAT.EtherCAT_Task (METH) ¶ METHOD EtherCAT_Task : BOOL Not required anymore, only left for compatibility reasons InOut: Scope Name Type Return EtherCAT_Task BOOL

IoDrvEtherCAT.FirstPortActive (PROP) ¶ PROPERTY FirstPortActive : BOOL Returns true if the first (primary) port is active in EtherCAT redundancy mode

IoDrvEtherCAT.FirstSlave (PROP) ¶ PROPERTY FirstSlave : POINTER TO ETCSlave Pointer to the first slave underneath the master

IoDrvEtherCAT.FrameAtTaskStart (PROP) ¶ PROPERTY FrameAtTaskStart : BOOL TRUE: The frame for the slave is transferred at the beginning of the task (before the IEC task), which ensures minimum jitter. This command is used to achieve jerk-free movements of servo drives. If this flag is set to TRUE, the frame of the output buffer is written in the next cycle (see diagram below). Default: FALSE (TRUE when using CODESYS SoftMotion)