Lenze E84DGFCT - Manual (Page 18)

Communication manual 8400 motec EtherCAT®
Technical data
Protocol data
18
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EDS84DMOTECAT EN 2.1 - 11/2012
4.2 Protocol data
4.3 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 a corresponding response.
 The processing time in the controller is approx. 10 ms + a tolerance of +20 ms (typically)
 Some codes may require a longer processing time (see software manual / »Engineer«
online help "Inverter Drive 8400 motec").
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 current actual values.
The communication times for process data depend on the ...
 processing time in the controller (interval time of the application task, process data
mode)
 runtime on the bus (telegram length, number of nodes, PDO update time, instant of
transmission of the EtherCAT frame)
The processing time starts when the setpoints are taken over by the controller at a point in
time which is not synchronised with the EtherCAT master, and ends when the current
actual values are provided at the EtherCAT interface.
Hence, the following holds true for the processing time:
1.3 ms + 1.0 ms (tolerance) + interval time of the application task
Area Values
Process data words 1 ... 10 process data words to master (max. 20 bytes, 16 bits / word)
1 ... 8 process data words from master (max. 16 bytes, 16 bits / word)
Parameter data (mailbox size for CoE
transfer)
Max. 128 bytes