Lenze EtherCAT Controller-based Automation - Manual (Page 35)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
35
5 Technical data
5.3 Communication times and drive-specific data
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5.3 Communication times and drive-specific data
Area Values
User data per frame 1344 bytes
Process data words (PCD) Depending on the inverter used
(see documentation of the inverter)
Parameter data (SDO) transfer Max. 128 bytes
Permissible EtherCAT cycle times 1 … 10 ms
Max. number of drives 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
Cross communication Not possible
Cycle synchronisation with locked
PLL (Jitter)
+/-1 μs
Instant of transmission for the
EtherCAT frame (for setting, see
Optimising the task utilisation
( 104) )
The EtherCAT frame is sent at the
beginning of the bus cycle task.
The EtherCAT frame is sent at the end
of the bus cycle task.
Total signal runtime for a cycle time
of 1 ms
Drive  controller  drive
4 ms 3 ms
Runtime of the setpoints
Controller  drive
2 ms 1 ms
Runtime of the actual values
Drive  controller
1 ms 1 ms