ICPDAS ECAT-2610 User Manual page 56

EtherCAT to Modbus RTU Gateway
Write DO + Read DI
Write DO Command_01 = (send) 01 0F 00 00 00 08 01 00 FE 95 + (read) 01 0F 00 00 00 08 54 0D
Read DI Command_02 = (send)
01 02 00 00 00 07 39 C8 + (read) 01 02 01 00 A1 88
The M-7050 will send_read command_01 first, then send_read command_02.
The hardware timing of Write DO Command_01 + Read DI Command_02 is given as follows:
One Write DO Command_1 + Read DI Command_02 = about 13.2 ms

Figure 7.1-7
Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 56 -