Able, 32 dc, Cycle time specification – Baumer ATD User Manual
Page 29: Icture, 12 t, Iming, Iagram for, Ommunication type
EtherCAT
29/42
Baumer Thalheim GmbH & Co. KG
2011-10-04/rnik
Eschwege, Germany
D
Um
Master
Slave
S
J
CycleTime
SYNC0 event (n)
SYNC0 event (n+x)
PD sampling
C&C
MIN CycleTime
1C33:05
1C33:02
1C33:03
Shift Time
Picture 12 Timing Diagram for DC or Sync Communication type
D
: Delay time of the EtherCAT slave to transfer data (approx. 600n + 5ns x L[m])
Um
: Shift time that is adjusted internally by the master.
S
: Fixed Slave Shift time until data acquisition is started (0x1C33:3)
J
: Slave Jitter is the time the slave needs to start sampling data
C&C
: Calc and copy time for data transfer ADC to DPRAM.
At Operating temperature = 20°C, State = OP
Name
Min
Typ
Max
Shift Time (S)
4,880
µs
Jitter (J)
0
65
100
ns
Cycle Time (SFC = 1)
62,5
32.000
µs
Table 32 DC cycle time specification
11
Firmware Version > 1.07
12
Device jitter may is dependent of many factors, an estimation of this jitter may be done by adding the
SYNC0 Jitter (max = 40ns for ET1100) + optics sampling point jitter (max = 25ns)