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. The minimum cycle times that work in practice may vary. 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.
EL5102 Predefined PDO Assignment | EtherCAT cycle time | |
|---|---|---|
Minimum | Maximum | |
1. Ch. Standard Legacy EL5101 | 76.6 µs typ. | 125 µs typ. |
2. Ch. Standard Legacy EL5101 | 125 µs typ. | 200 µs typ. |
1. Ch. Compact Legacy EL5101 | 71.4 µs typ. | 125 µs typ. |
2. Ch. Compact Legacy EL5101 | 125 µs typ. | 200 µs typ. |
1. Ch. Standard | 76.6 µs typ. | 125 µs typ. |
2. Ch. Standard | 125 µs typ. | 214.2 µs typ. |
1. Ch. Compact | 76.6 µs typ. | 150 µs typ. |
2. Ch. Compact | 125 µs typ. | 214.5 µs typ. |
1. Ch. Standard, extended DC mode, 32Bit time stamp | 125 µs typ. | 200 µs typ. |
2. Ch. Standard, extended DC mode, 32Bit time stamp | 187.5 µs typ. | 300 µs typ. |
1. Ch. Standard, extended DC mode, 64Bit time stamp | 125 µs typ. | 200 µs typ. |
2. Ch. Standard, extended DC mode, 64Bit time stamp | 200 µs typ. | 300 µs typ. |
1. Ch Standard, Period mode | 83.3 µs typ. | 150 µs typ. |
2. Ch Standard, Period mode | 125 µs typ. | 250 µs typ. |
1. Ch. Standard, Frequency mode | 83.3 µs typ. | 150 µs typ. |
2. Ch. Standard, Frequency mode | 125 µs typ. | 250 µs typ. |
1. Ch. Standard, Duty Cycle mode | 100 µs typ. | 150 µs typ. |
2. Ch. Standard, Duty Cycle mode | 142.8 µs typ. | 250 µs typ. |
2. Ch. Standard, counter mode | 125 µs typ. | 200 µs typ. |
2. Ch. Compact, counter mode | 125 µs typ. | 200 µs typ. |