Baumer BMxx, GBxxx-GXxxx - EtherCAT / PoE from version&nbsp,5.0 - Manual (Page 28)

Baumer_EtherCAT_PoE_5-00_MA_EN.docx 28/30 www.baumer.com
30.09.14
6.5 Cycle times
Cycle times relate to the following settings:
 Basic encoder type
 Scaling on/off (0x6000 Bit 2 2 )
 Configuration 10 byte PDO/ 4 byte PDO/ 2 byte PDO
Scaling ON: 0x6000 2
2 =1; Scaling OFF: 0x6000 2 2 =0;
Chart on cycle times
All times in ns
10 Byte PDO (default)
0x1C33:3
Shift time
0x1C33:5
Minimum cycle time
0x1C33:6
Calc and copy time Basic encoder
Scaling OFF Scaling ON Scaling OFF Scaling ON Device name
21300 214500 419500 188700 393700 GCAM
41800 234000 413000 185200 364200 GCMM
25000 217000 419000 183000 385000 GXAM
41000 233000 410000 183000 360000 GXMM
33600 228000 416000 185400 373400 GBAM
50600 245000 423000 185400 363400 GBMM
4 Byte PDO
0x1C33:3
Shift time
0x1C33:5
Minimum cycle time
0x1C33:6
Calc and copy time Basic encoder
Scaling OFF Scaling ON Scaling OFF Scaling ON Device name
21300 74500 279500 48700 253700 GCAM
41800 92000 271000 43200 222200 GCMM
25000 76000 278000 42000 244000 GXAM
41000 92000 269000 42000 219000 GXMM
33600 86000 274000 43400 231400 GBAM
50600 104000 282000 44400 222400 GBMM
2 Byte PDO
0x1C33:3
Shift time
0x1C33:5
Minimum cycle time
0x1C33:6
Calc and copy time Basic encoder
Scaling OFF Scaling ON Scaling OFF Scaling ON Device name
21300 62500 267500 36700 241700 GCAM
41800 85000 264000 36200 215200 GCMM
25000 68000 270000 34000 236000 GXAM
41000 84000 261000 34000 211000 GXMM
33600 78000 266000 35400 223400 GBAM
50600 96000 274000 36400 214400 GBMM
Note: Setting 2 byte PDO means input data will be limited to 2 bytes, no matter what the maximum
total encoder resolution is.