EthercatMaster.getShiftTime()

[Ethercat Master]

Description

Get the Global Shift Time for DC-Synchronous mode. For the definition of Global Shift Time, please refer to 1.5 Synchronization.

Syntax

int getShiftTime();

Parameters

None.

Returns

Return the Global Shift Time, in nanoseconds.

Comment

This function must be called after a successful execution of EthercatMaster::start() and before EthercatMaster::stop(). This function is non-blocking and can be called within the callback functions.

Example

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_Generic slave;

void setup() {
  Serial.begin(115200);
  
  master.begin();
  slave.attach(0, master);
  slave.setDc(1000000);
  master.start(1000000);

  Serial.print("Global Shift Time: ");
  Serial.println(master.getShiftTime());
}

void loop() {
  // ...
}

Please see the EtherCAT Library User Manual for more QEC EtherCAT instructions and API usage.