EtherCAT cycle time
The EtherCAT cycle time depends on the selection of the process data to be transferred. The following table provides an overview of the recommended cycle time, depending on the "Predefined PDO Assignment". The specifications refer to a multiple of the "Base Time" to be set via the TwinCAT Master. If a faster cycle time is used, the process data 0x6002:0F "Input Cycle Counter" must be used to monitor when new process data are delivered.
EL5112 - Predefined PDO assignment in single-channel mode | EtherCAT cycle time | |
|---|---|---|
Min. | Max. | |
1. Ch. Standard, 1xABC Legacy EL5101 | 76.9 µs typ. | 125 µs typ. |
1. Ch. Compact, 1xABC Legacy EL5101 | 71.4 µs typ. | 125 µs typ. |
1. Ch. Standard, 1xABC | 76.9 µs typ. | 125 µs typ. |
1. Ch. Compact, 1xABC | 76.9 µs typ. | 125 µs typ. |
1. Ch. Standard, 1xABC, extended DC mode, 32Bit time stamp | 125 µs typ. | 150 µs typ. |
1. Ch. Standard, 1xABC, extended DC mode, 64Bit time stamp | 125 µs typ. | 150 µs typ. |
1. Ch. Standard, 1xABC, Periode mode | 83.3 µs typ. | 125 µs typ. |
1. Ch. Standard, 1xABC, Frequency mode | 76.9 µs typ. | 125 µs typ. |
1. Ch. Standard, 1xABC, Duty Cycle mode | 100 µs typ. | 125 µs typ. |