Omron NX701-17 Series User Manual page 143

The following timing chart shows an example of the timing from an execution of the SDO communi-
cations instruction to the completion of the instruction execution, based on the performance model
below.
Here, it is assumed that the program that executes the SDO communications instructions is
assigned to the primary periodic task.
Performance Model Example
Task period of primary periodic task [ms]
Divided period [ms]
SDO response data size [byte]
Slave SDO processing time [ms]
Message response time [ms]
UPG: User program execution
EtherCAT master processing
Line delay
Slave SDO processing
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
Task period (4 ms)
Divided period
(1 ms)
UPG
SDO communications
instruction executed.
Frame
sent.
Slave SDO
processing time
SDO
request
received.
4
1
512
1.2
8
Task period (4 ms) Task period (4 ms)
UPG
SDO response EtherCAT master captures
generation
SDO response data from slave:
completed.
256 bytes per frame.
Execution of SDO
communications
instruction
completed.
6-25
6