EtherCAT cycle time
The EtherCAT cycle time depends on the modules selected in the individual SlotGroups and the associated transmitted process data.
The following table provides an overview of the recommended cycle time depending on selected configurations.
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 0xF600:0F "Input Cycle Counter" must be used to monitor when new process data are delivered.
Configuration | EtherCAT cycle time | ||
|---|---|---|---|
SlotGroup | ModuleGroup | ModuleIdentlist | Min. |
SlotGroup1 | ENC_L_G | 0x482199 | 250 µs typ. |
SlotGroup2 | DI_4x | 0x82199, 0x82199, 0x82199, 0x82199 | |
SlotGroup3 | PWM_2xOUT | 0x202199, 0x202199, | |
SlotGroup4 | AI_1xV | 0x302199 | |
SlotGroup5 | AO_1xV | 0x602199 | |
Configuration | EtherCAT cycle time | ||
|---|---|---|---|
SlotGroup | ModuleGroup | ModuleIdentlist | Min. |
SlotGroup1 | DI_4x | 0x82199, 0x82199, 0x82199, 0x82199 | 250 µs typ. |
SlotGroup2 | DI_4x | 0x82199, 0x82199, 0x82199, 0x82199 | |
SlotGroup3 | PWM_2xOUT | 0x202199, 0x202199, | |
SlotGroup4 | AI_1xV | 0x302199 | |
SlotGroup5 | AO_1xV | 0x602199 | |
Configuration | EtherCAT cycle time | ||
|---|---|---|---|
SlotGroup | ModuleGroup | ModuleIdentlist | Min. |
SlotGroup1 | DI_4x | 0x82199, 0x82199, 0x82199, 0x82199 | 200 µs typ. |
SlotGroup2 | DI_4x | 0x82199, 0x82199, 0x82199, 0x82199 | |
SlotGroup3 | DO_2x | 0x402199, 0x402199, | |
SlotGroup4 | AI_1xV | 0x302199 | |
SlotGroup5 | AO_1xV | 0x602199 | |
Configuration | EtherCAT cycle time | ||
|---|---|---|---|
SlotGroup | ModuleGroup | ModuleIdentlist | Min. |
SlotGroup1 | CNT_2xDI | 0x102199, | 250 µs typ. |
SlotGroup2 | DI_4x | 0x82199, 0x82199, 0x82199, 0x82199 | |
SlotGroup3 | DO_2x | 0x402199, 0x402199, | |
SlotGroup4 | AI_1xV | 0x302199 | |
SlotGroup5 | AO_1xV | 0x602199 | |
Configuration | EtherCAT cycle time | ||
|---|---|---|---|
SlotGroup | ModuleGroup | ModuleIdentlist | Min. |
SlotGroup1 | CNT_OUT_DO | 0x182199, | 250 µs typ. |
SlotGroup2 | DI_4x | 0x82199, 0x82199, 0x82199, 0x82199 | |
SlotGroup3 | DO_2x | 0x402199, 0x402199, | |
SlotGroup4 | AI_1xV | 0x302199 | |
SlotGroup5 | AO_1xV | 0x602199 | |
Configuration | EtherCAT cycle time | ||
|---|---|---|---|
SlotGroup | ModuleGroup | ModuleIdentlist | Min. |
SlotGroup1 | ENC_OUT_DO | 0x502199, | 250 µs typ. |
SlotGroup2 | DI_4x | 0x82199, 0x82199, 0x82199, 0x82199 | |
SlotGroup3 | DO_2x | 0x402199, 0x402199, | |
SlotGroup4 | AI_1xV | 0x302199 | |
SlotGroup5 | AO_1xV | 0x602199 | |
Configuration | EtherCAT cycle time | ||
|---|---|---|---|
SlotGroup | ModuleGroup | ModuleIdentlist | Min. |
SlotGroup1 | ENC_OUT_DO | 0x502199, | 250 µs typ. |
SlotGroup2 | DI_4x | 0x82199, 0x82199, 0x82199, 0x82199 | |
SlotGroup3 | PWM_2xOUT | 0x202199, 0x202199, | |
SlotGroup4 | AI_1xC | 0x382199 | |
SlotGroup5 | AO_1xC | 0x682199 | |
Configuration | EtherCAT cycle time | ||
|---|---|---|---|
SlotGroup | ModuleGroup | ModuleIdentlist | Min. |
SlotGroup1 | ENC_L_G | 0x482199 | 250 µs typ. |
SlotGroup2 | DI_4x | 0x82199, 0x82199, 0x82199, 0x82199 | |
SlotGroup3 | PWM_2xOUT | 0x202199, 0x202199, | |
SlotGroup4 | AI_1xC | 0x382199 | |
SlotGroup5 | AO_1xC | 0x682199 | |
Configuration | EtherCAT cycle time | ||
|---|---|---|---|
SlotGroup | ModuleGroup | ModuleIdentlist | Min. |
SlotGroup1 | empty4 | SlotGroup without function | 66.6 µs typ. |
SlotGroup2 | DI_4x | 0x82199, 0x82199, 0x82199, 0x82199 | |
SlotGroup3 | Empty2 | SlotGroup without function | |
SlotGroup4 | Empty1 | SlotGroup without function | |
SlotGroup5 | Empty1 | SlotGroup without function | |