EtherCAT Master Dummy ESC for Synchronization Jitter Reduction

The patent introduces a dummy ESC as an intermediary component within the master device. This dummy ESC acts as a mediator that generates reference timing signals independent of the actual slave controllers, allowing the master to synchronize with slaves using a stable reference clock rather than relying on potentially jittery slave timing feedback. The dummy ESC's timing signals serve as a buffer between the master's operational commands and the slaves' execution, eliminating the synchronization jitter that occurs in traditional master-slave timing protocols.

The dummy ESC performs preliminary timing preparation by pre-calculating and buffering timing reference signals before actual motor operations occur. The master device uses these pre-prepared timing references from the dummy ESC to issue control commands at high speed without waiting for slave feedback timing adjustments. This preliminary timing preparation ensures that even high-speed control commands maintain precise synchronization with slave execution, preventing the timing jitter that would otherwise cause motor operation errors.

The patent creates a timing equipotential state by having the master device synchronize with slaves using reference clocks from the dummy ESC rather than allowing slaves to negotiate timing among themselves. All slaves receive timing references from the same master-generated source (dummy ESC), placing them all at the same timing potential level. This eliminates the cumulative timing drift and synchronization loss that occurs when slaves attempt to coordinate timing independently through PTP methods, ensuring consistent timing coordination without time loss.