5 I/O Refreshing
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NX-series Digital I/O Unit User’s Manual (W521)
z Slave Terminal Operation
The following describes the operation of synchronous input refreshing of an EtherCAT Slave Termi-
nal connected to the built-in EtherCAT port.
• All Digital Input Units and Analog Input Units that operate with synchronous input refreshing in the
Slave Terminal read their inputs at the same time at a fixed interval bases on Sync0. (Refer to (a)
in the figure below.)
*1
• The Communications Coupler Unit reads the input values, which are read by the Unit at the timing
of reading inputs, at immediate I/O refreshing. (Refer to (b) in the figure below.)
• The interval of I/O refreshing varies with the processing conditions of the Communications Cou-
pler Unit or the host communications master. (Refer to (c) in the figure below.) The timing to read
inputs will be at a fixed interval. (Refer to (d) and (e) in the figure below.)
• The Sync0, the timing to read inputs and the maximum NX bus I/O refresh cycle of the Slave Ter-
minals are automatically calculated by the Sysmac Studio according to the input refresh cycle of
the NX Units in the Slave Terminals when the Slave Terminals are configured and set up.
• In order to read input values correctly, you must determine the inputs before the total of the
ON/OFF response time and the input filter time from the timing to read inputs for each NX Unit.
(Refer to (f) in the figure below.)
*1.If multiple Slave Terminals are present on the same EtherCAT network, refer to the NX-series EtherCAT
Coupler Unit User’s Manual (Cat. No. W519-E1-05 or later) for the range of available Slave Terminals that
operate at the same timing.
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