Time behavior
The Box is generally operated such that each I/O cycle triggers an SSI communication and thus supplies a new encoder position to the application. If the time falls below a minimum EtherCAT cycle time that depends on the settings and the hardware, this interrelationship can no longer be guaranteed and the SSI transfers are no longer synchronous to the EtherCAT cycle and the DC cycle (see below: EtherCAT cycle time).
EtherCAT cycle time
If the Box is operated faster than the time required for SSI communication and processing, the start of the next SSI communication is no longer synchronous with the EtherCAT bus cycle and the local DC signal, but is delayed until the next free signal or until processing is completed.
The minimum recommended cycle time is 200 µs. This depends on the frame length and inhibit time in the specific application and must be verified in the application if necessary.
TxPdoToggle from the status word can be used to determine the actual update frequency in the application.