Cycle times, 5 cycle times – Baumer BMxx, GBxxx-GXxxx - EtherCAT / PoE from version ,5.0 User Manual
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6.5 Cycle times
Cycle times relate to the following settings:
Basic encoder type
Scaling on/off (0x6000 Bit 2
2
)
Configuration 10 byte PDO/ 4 byte PDO/ 2 byte PDO
Scaling ON: 0x6000 2
2
=1;
Scaling OFF: 0x6000 2
2
=0;
Chart on cycle times
All times in ns
10 Byte PDO (default)
0x1C33:3
Shift time
0x1C33:5
Minimum cycle time
0x1C33:6
Calc and copy time
Basic encoder
Scaling OFF
Scaling ON
Scaling OFF
Scaling ON
Device name
21300
214500
419500
188700
393700
GCAM
41800
234000
413000
185200
364200
GCMM
25000
217000
419000
183000
385000
GXAM
41000
233000
410000
183000
360000
GXMM
33600
228000
416000
185400
373400
GBAM
50600
245000
423000
185400
363400
GBMM
4 Byte PDO
0x1C33:3
Shift time
0x1C33:5
Minimum cycle time
0x1C33:6
Calc and copy time
Basic encoder
Scaling OFF
Scaling ON
Scaling OFF
Scaling ON
Device name
21300
74500
279500
48700
253700
GCAM
41800
92000
271000
43200
222200
GCMM
25000
76000
278000
42000
244000
GXAM
41000
92000
269000
42000
219000
GXMM
33600
86000
274000
43400
231400
GBAM
50600
104000
282000
44400
222400
GBMM
2 Byte PDO
0x1C33:3
Shift time
0x1C33:5
Minimum cycle time
0x1C33:6
Calc and copy time
Basic encoder
Scaling OFF
Scaling ON
Scaling OFF
Scaling ON
Device name
21300
62500
267500
36700
241700
GCAM
41800
85000
264000
36200
215200
GCMM
25000
68000
270000
34000
236000
GXAM
41000
84000
261000
34000
211000
GXMM
33600
78000
266000
35400
223400
GBAM
50600
96000
274000
36400
214400
GBMM
Note: Setting 2 byte PDO means input data will be limited to 2 bytes, no matter what the maximum
total encoder resolution is.