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.
EL5122 Predefined PDO Assignment | EtherCAT cycle time | |
|---|---|---|
Min. | Max. | |
1. Ch. Standard | 66.6 µs typ. | 100 µs typ. |
2. Ch. Standard | 125 µs typ. | 150 µs typ. |
1. Ch. Compact | 66.6 µs typ. | 100 µs typ. |
2. Ch. Compact | 100 µs typ. | 125 µs typ. |
1. Ch. Standard, Periode mode | 71.4 µs typ. | 125 µs typ. |
2. Ch. Standard, Periode mode | 125 µs typ. | 150 µs typ. |
1. Ch. Standard, Frequency mode | 71.4 µs typ. | 125 µs typ. |
2. Ch. Standard, Frequency mode | 125 µs typ. | 150 µs typ. |
2. Ch. Standard, Counter mode | 100 µs typ. | 150 µs typ. |
2. Ch. Compact, Counter mode | 100 µs typ. | 150 µs typ. |