Beckhoff EL6731 Documentation page 140

EtherCAT communication EL6731-00x0
Fig. 133: Transfer of output data with LWR, input data with LRD telegram (Separate Input Update = TRUE,
Task Cycle Time = Base Time)
Transmission of the output data with LWR telegram and the input data with LRD telegram (Separate
Input Update = TRUE, Task Cycle Time = 4*Base Time, pre-ticks = 1)
If the Task Cycle Time (= EtherCAT Master Cycle Time) is larger than the TwinCAT Realtime Base Time,
then the LRD telegram is sent at a previous Base Time in accordance with the set pre-tick.
Fig. 134: Transfer of output data with LWR, input data with LRD telegram (Separate Input Update = TRUE,
Task Cycle Time = 4*Base Time, Pre ticks = 1)
140 Version: 2.8 EL6731