EthercatMaster.setShiftTime()

[Ethercat Master]

Description

Set the Global Shift Time for DC-Synchronous mode. If the user does not set the Global Shift Time or sets it to INT32_MAX, the EtherCAT firmware will automatically calculate an appropriate value. For the definition of Global Shift Time, please refer to 1.5 Synchronization.

Syntax

int setShiftTime(int32_t nanoseconds);

Parameters

• [in] int32_t nanoseconds
  The value of the Global Shift Time to be set, in nanoseconds.

Return Value

Return an error code. If the returned value is zero, it indicates a successful execution of this function.

Comment

This function must be called after a successful execution of EthercatMaster::begin() and before EthercatMaster::start(), or after a successful execution of EthercatMaster::stop() and before EthercatMaster::end(). This function is non-blocking and can be called within the callback functions, but it is not recommended.

Example

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_Generic slave;

void setup() {
    master.begin();
    slave.attach(0, master);
    slave.setDc(1000000);
    master.setShiftTime(250000); // 250000 ns
    master.start(1000000);
}

void loop() {
    // ...
}

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