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