EtherCAT cycle time
The EtherCAT cycle time depends on the selected ModuleGroups and the associated transferred process data.
The following table provides an overview of the recommended cycle time depending on selected example configurations. The specifications refer to a multiple of the "Base Time" to be set via the TwinCAT Master.
If you set a shorter EtherCAT cycle time, use the "Input Cycle Counter" to check when new process data is supplied.
Configuration | Minimum EtherCAT cycle time (typ.) | ||||
|---|---|---|---|---|---|
SlotGroup 1 | SlotGroup 2 | SlotGroup 3 | SlotGroup 4 | SlotGroup 5 | |
ENC_L_G | DI_4x | PWM_2xOUT | AI_1xV | AO_1xV | 250 µs |
DI_4x | DI_4x | PWM_2xOUT | AI_1xV | AO_1xV | 250 µs |
DI_4x | DI_4x | DO_2x | AI_1xV | AO_1xV | 200 µs |
CNT_2xDI | DI_4x | DO_2x | AI_1xV | AO_1xV | 250 µs |
CNT_OUT_DO | DI_4x | DO_2x | AI_1xV | AO_1xV | 250 µs |
ENC_OUT_DO | DI_4x | DO_2x | AI_1xV | AO_1xV | 250 µs |
ENC_OUT_DO | DI_4x | PWM_2xOUT | AI_1xC | AO_1xC | 250 µs |
ENC_L_G | DI_4x | PWM_2xOUT | AI_1xC | AO_1xC | 250 µs |
Empty4 | DI_4x | Empty2 | Empty1 | Empty1 | 66.6 µs |