SYNCHRONIZATION ERROR COMPENSATION SYSTEM FOR SYNCHRONIZATION ERROR COMPENSATION BETWEEN MASTER AND SLAVES OF ETHERCAT NETWORK AND SYNCHRONIZATION ERROR COMPENSATION METHOD THEREOF

摘要

The present invention relates to a synchronization error compensation system and a synchronization error compensation method thereof, which are capable of estimating and compensating a synchronization error between a master and slaves such that the master can be more precisely synchronized with all the slaves connected to an EtherCAT network. In addition, the present invention provides the synchronization error compensation system comprising the master which includes: a collection unit for periodically collecting a time difference value between a reference time of a reference slave and a system time of the master and an offset time, from the reference slave which is a first slave for a synchronization reference among a plurality of slaves, and periodically collecting an offset time from slaves other than the reference slave; a synchronization error calculation unit for calculating an average value of the collected time difference values as a synchronization error when a plurality of time difference values are collected from the collection unit; and a synchronization error compensation unit for calculating a new offset time by using the synchronization error calculated by the synchronization error calculation unit and the offset time collected by the collection unit, and transmitting the calculated new offset time to each slave including the reference slave so as to compensate the synchronization error.