EtherCAT cycle time
The EtherCAT cycle time depends on the selection of the process data to be transmitted and the set excitation frequency 0x8001:14 "Excitation frequency".
The following table provides an overview of the recommended cycle time, depending on the "Predefined PDO Assignment" and the excitation frequency.
- 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 0x60n0:0F "Input Cycle Counter" must be used to monitor when new process data are delivered.
EL5072 – Predefined PDO Assignment | 0x8001:14 "Excitation frequency" | Min. EtherCAT cycle time |
|---|---|---|
2. Ch. Standard | 1 kHz | typical 66.6 µs |
2 kHz | typical 66.6 µs | |
2.5 kHz | typical 66.6 µs | |
4 kHz | typical 66.6 µs | |
5 kHz | typical 71.4 µs | |
7.5 kHz | typical 71.4 µs | |
10 kHz | typical 76.9 µs | |
12.5 kHz | typical 83.3 µs | |
13 kHz | typical 83.3 µs | |
15 kHz | typical 100 µs | |
19.4 kHz | typical 200 µs | |
20 kHz | typical 230.7 µs | |
2. Ch. Standard, Timestamp | 1 kHz | typical 66.6 µs |
2 kHz | typical 71.4 µs | |
2.5 kHz | typical 71.4 µs | |
4 kHz | typical 76.9 µs | |
5 kHz | typical 83.3 µs | |
7.5 kHz | typical 83.3 µs | |
10 kHz | typical 100 µs | |
12.5 kHz | typical 100 µs | |
13 kHz | typical 100 µs | |
15 kHz | typical 125 µs | |
19.4 kHz | typical 214.2 µs | |
20 kHz | typical 285.6 µs |