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5 I/O Refreshing
NX-series Digital I/O Unit User’s Manual (W521)
5-2 I/O Refreshing Methods
5
5-2-8 Input Refreshing with Input Changed Time
z Slave Terminal Operation
The following describes the operation of input refreshing with input changed time of an EtherCAT
Slave Terminal connected to the built-in EtherCAT port.
• The NX Units that support input refreshing with input changed time record the DC times when an
input changes for each input bit. The DC times that the Units record are the DC times for which
the status changes of the input terminals passed the ON/OFF response time and reached the
internal circuits.
• The EtherCAT Coupler Unit reads the input values and the input changed times from the NX Units
at I/O refreshing. The input values that the EtherCAT Coupler Unit read are not the values at the
point when the input change times were recorded, but the values at I/O refreshing.
• All Digital Input Units that operate with input refreshing with input changed times in the Slave Ter-
minal read the input changed times at the same time at a fixed interval based on Sync0.
(Refer to (a) in the figure below.)
*1
• The timing of reading input changed times is the same as the timing at which all Digital Input Units
and Analog Input Units that operate with synchronous input refreshing in the Slave Terminal read
their inputs.
• The timing of reading input values is at I/O refreshing, which is different from the timing of reading
input changed times.
• The EtherCAT Coupler Unit reads the input changed times and input values at immediate I/O
refreshing after the input changed times are read. (Refer to (b) in the figure below.)
• The interval of I/O refreshing varies with the processing conditions of the EtherCAT Coupler Unit
or the EtherCAT master. (Refer to (c) in the figure below.) The timing of reading input changed
times will be at a fixed interval. (Refer to (d) and (e) in the figure below.)
• Sync0, the timing of reading input changed times, and the maximum NX bus I/O refresh cycle for
multiple Slave Terminals are automatically calculated by the Sysmac Studio according to the input
refresh cycles of the NX Units in the Slave Terminals when the Slave Terminals are configured
and set up.
*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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