Lenze E94AYCET - Manual (Page 19)

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17
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4 Technical data
4.3 Protocol data
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4.3 Protocol data
4.4 Communication time
Parameter data (SDO)
The communication time for parameter data is the time between the transmission of an SDO
request and the arrival of the corresponding response.
The processing time in the drive is approx. 30 ms + 20 ms tolerance (typical)
Some codes may require a longer processing time (see reference manual/»Engineer« online help for
Servo Drive 9400).
Process data (PDO)
The communication time for process data is the time between the reception of a PDO with setpoints
and the return of a PDO with the current actual values.
The communication times for process data depend on the ...
• processing time in the drive (interval time of the application task, process data mode);
• Runtime on the fieldbus (frame length, number of nodes, PDO update time, instant of
transmission of the EtherCAT frame);
• Use of the "Distributed clocks" (DC) functionality for synchronised operation.
 Synchronisation with "Distributed Clocks" (DC) ( 35)
Area Values
Process data 1 ... 32 process data words for each direction
(max. 64 bytes, 16 bits / word)
Parameter data (mailbox size for CoE
transfer)
Max. 128 bytes