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12 Communications Performance
NX-series EtherCAT Coupler Unit User’s Manual (W519)
12-2 Mes
sage R
espo
n
se T
im
e
12
12-
2-2
Message Re
sponse T
ime
• Tcycle: Task period of the primary periodic task in the CPU Unit
• Ts-resp: Slave message response time
*1. If Tcycle divides Ts-resp evenly, there is no need to add 1.
*2. If 256 divides the data byte size of the message response evenly, there is no need to add 1.
Slave Message Response Time: Ts-resp
This is the time from when the message request is received until the EtherCAT Slave Terminal com-
pletes generating the response.
(a)
Reading and Writing SDO Data
The destination is the EtherCAT Coupler Unit and the value is as follows:
Ts-resp = 30 to 80
μ
s
(b)
Reading and Writing NX Objects
If the destination is the EtherCAT Coupler Unit, the value is as follows:
Ts-resp = 400 to 1,000
μ
s
If the destination is an NX Unit, the value is as follows:
Ts-resp = 450 to 7,000
μ
s
Calculating the Message Response Time
Message response time = {((Ts-resp
÷
Tcycle) + 1
*1
)
×
Tcycle}
+ {((Data byte size of response message
÷
256)
+ 1
*2
)
×
Tcycle} + Tcycle
IO
UPG
IO
EtherCAT Coupler Unit #1
NX Unit number 1
NX Unit number 2
NX Unit number 3
IO
Line delay
NJ-series
CPU Unit
MC
UPG
MC
UPG
MC
IO
UPG MC
Message communications instruction executed.
System services
EtherCAT Coupler Unit #2
NX Unit number 1
NX Unit number 2
I/O: I/O refreshing
UPG: User program execution
MC: Motion control
Primary period
Tcycle
Primary period
Tcycle
Primary period
Tcycle
Primary period
Tcycle
Frame sent.
Response data
sent.
Request received.
Slave message response time: Ts-resp
Destination:
EtherCAT
Coupler Unit
Destination:
NX Unit
Request received.
Response generated.
Request received.
Response
generation
completed.
Response
generation
completed.
Summary of Contents for NX-ECC201
Page 38: ...Sections in this Manual 36 NX series EtherCAT Coupler Unit User s Manual W519...
Page 46: ...1 EtherCAT Networks 1 8 NX series EtherCAT Coupler Unit User s Manual W519...
Page 56: ...2 Features and System Configuration 2 10 NX series EtherCAT Coupler Unit User s Manual W519...
Page 82: ...4 Part Names and Functions 4 14 NX series EtherCAT Coupler Unit User s Manual W519...
Page 100: ...5 Designing the Power Supply System 5 18 NX series EtherCAT Coupler Unit User s Manual W519...
Page 214: ...9 Setting Up Slave Terminals 9 44 NX series EtherCAT Coupler Unit User s Manual W519...
Page 254: ...11 EtherCAT Coupler Unit Functions 11 30 NX series EtherCAT Coupler Unit User s Manual W519...
Page 278: ...12 Communications Performance 12 24 NX series EtherCAT Coupler Unit User s Manual W519...
Page 340: ...14 Maintenance and Inspection 14 8 NX series EtherCAT Coupler Unit User s Manual W519...
Page 400: ...Appendices A 60 NX series EtherCAT Coupler Unit User s Manual W519...
Page 401: ...Index 1 NX series EtherCAT Coupler Unit User s Manual W519 I Index...
Page 405: ......