Datalogic AMT58 Series, Instruction Manual, Page: 42 / 63

AMT58x-EC EtherCAT®
35
FreeRun
Asynchronous mode; encoder position is sampled directly from
EtherCAT frame sent by the Master; position update is performed by
an internal timer of the controller every 100 microseconds.
This operating mode has a high sampling jitter (up to 100
microseconds) and can be chosen only when cycle times are quite
longer than the jitter if we want to ensure a sufficient real-time system
performance.
Description Min Typ Max
Jitter 0 100 µsec
Cycle Time 1000 64000 µsec
0x1C33:02 (Cycle Time)
0x1C33:05 (Min Cycle Time)
0x1C33:06
(Calc & Copy)
Local Timer Local Timer
Input Latch
Local
Timer Local
Timer Local
Timer Local
Timer Local
Timer Local
Timer
Frame N Frame N+1
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