EtherCAT communication EL6731-00x0
EL6731140 Version: 2.8
Fig.133: Transfer of output data with LWR, input data with LRD telegram (Separate Input Update = TRUE,
Task Cycle Time = Base Time)
Transmission of the output data with LWR telegram and the input data with LRD telegram (Separate
Input Update = TRUE, Task Cycle Time = 4*Base Time, pre-ticks = 1)
If the Task Cycle Time (= EtherCAT Master Cycle Time) is larger than the TwinCAT Realtime Base Time,
then the LRD telegram is sent at a previous Base Time in accordance with the set pre-tick.
Fig.134: Transfer of output data with LWR, input data with LRD telegram (Separate Input Update = TRUE,
Task Cycle Time = 4*Base Time, Pre ticks = 1)
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