ICPDAS ECAT-2610 User Manual page 55

EtherCAT to Modbus RTU Gateway
The ECAT-2610 will send command 01 02 00 00 00 07 39 C8 to the M-7050 first, then read response
01 02 01 00 A1 88 from the M-7050. The send_ then_read process will not stop and repeat one by
one.
The hardware timing of one send/read is given as follows:
Send 01 02 00 00 00 07 39 C8 is about 0.8 ms
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Read 01 02 01 00 A1 88 is about 0.7 ms
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The send_then_read is about 4 ms
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The read_N to send_N+1 is about 2 ms
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One send_read_cycle is about 4+2=6 ms
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Figure 7.1-6
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