Synchronization method and system among multiple MCUs in EtherCAT-based slave system

摘要

The present invention discloses a method and system for synchronizing a plurality of microprocessors included in an EtherCAT-based slave system. In the present invention, for synchronization between the network MCU and the control MCU included in the EtherCAT-based slave system, the control MCU calculates the clock error rate between the network MCU and the control MCU, and predicts the current time of the network MCU using the error rate. Transmits the current time estimate of the MCU to the network MCU. Then, the network MCU calculates the difference between the predicted value received from the control MCU and the actual current time and transmits it to the control MCU. Synchronize with the network MCU by adjusting the speed to be fast or slow. In this way, by performing synchronization between a plurality of MCUs in the EtherCAT-based slave system, processing time delay can be prevented, enabling efficient system operation.