Baumer ATD - Manual (Page 29)

EtherCAT 29/42 Baumer Thalheim GmbH & Co. KG
2011-10-04/rnik Eschwege, Germany
D Um
Master
Slave
S J
CycleTime
SYNC0 event (n) SYNC0 event (n+x)
PD sampling
C&C
MIN CycleTime
1C33:05
1C33:02
1C33:03
Shift Time
Picture 12 Timing Diagram for DC or Sync Communication type
D : Delay time of the EtherCAT slave to transfer data (approx. 600n + 5ns x L[m])
Um : Shift time that is adjusted internally by the master.
S : Fixed Slave Shift time until data acquisition is started (0x1C33:3)
J : Slave Jitter is the time the slave needs to start sampling data
C&C : Calc and copy time for data transfer ADC to DPRAM.
At Operating temperature = 20°C, State = OP
Name Min Typ Max
Shift Time (S) 4,880
11
µs
Jitter (J) 0 65 100
12
ns
Cycle Time (SFC = 1) 62,5 32.000 µs
Table 32 DC cycle time specification
11
Firmware Version > 1.07
12
Device jitter may is dependent of many factors, an estimation of this jitter may be done by adding the
SYNC0 Jitter (max = 40ns for ET1100) + optics sampling point jitter (max = 25ns)