Lenze EtherCAT control technology - Manual (Page 35)

DMS 3.1 EN 01/2011 TD17
L
35
Control technology | EtherCAT communication manual
Technical data
Communication times and drive-specific data
5.3 Communication times and drive-specific data
Field Values
User data per frame 1344 bytes
Process data words (PZD) for Servo
Drives 9400 HighLine
max. 32 words (64 bytes)
Parameter data (SDO) transfer Max. 128 bytes
Permissible EtherCAT cycle times 1 … 10 ms
Max. number of Servo Drives 9400
HighLine per frame
User data of the frame (1344 bytes) divided by the process data length
resulting from setpoints and actual values of the drives:
• for 32 Tx/Rx bytes: 1344 bytes / 64 bytes = 21 drives
• for 16 Tx/Rx bytes: 1344 bytes / 32 bytes = 42 drives
Total signal runtime for a cycle time
of 1ms
Drive  Control  Drive
5 ms
Runtime of the setpoints
Control  Drive
2 ms
Runtime of the actual values
Drive  Control
3ms
Cross communication Not possible
Cycle synchronisation with locked
PLL (jitter)
+/-1 μs