EtherCAT cycle time depending on Predefined PDO Assignment
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.
EL5131 - Predefined PDO Assignment | EtherCAT cycle time | |
|---|---|---|
Min. | Max. | |
1. Ch. Standard | 100 µs typ. | 150 µs typ. |
1. Ch. Standard, Output | 187.5 µs typ. | 300 µs typ. |
1. Ch. Compact | 100 µs typ. | 150 µs typ. |
1. Ch. Standard, extended DC mode, 32Bit time stamp | 125 µs typ. | 200 µs typ. |
1. Ch. Standard, extended DC mode, 64Bit time stamp | 150 µs typ. | 200 µs typ. |
1. Ch. Standard, extended DC mode, 64Bit time stamp, Output | 350 µs typ. | 500 µs typ. |
1. Ch Standard, Period mode | 100 µs typ. | 150 µs typ. |
1. Ch. Standard, Period mode, Output | 187.5 µs typ. | 333 µs typ. |
1. Ch. Standard, Frequency mode | 100 µs typ. | 150 µs typ. |
1. Ch. Standard, Frequency mode, Output | 187.5 µs typ. | 333 µs typ. |
1. Ch. Standard, Duty Cycle mode | 125 µs typ. | 150 µs typ. |