ICPDAS ECAT-2610 User Manual page 58

EtherCAT to Modbus RTU Gateway
If the DC is set to 20 ms, the cycle time of DIO_Addr01_1.txt is given as follows:

Sync to DC at every first command
Figure 7.1-9
One command_1 + command_02 = about 13.2ms.
If the DC cycle time is set to 10 ms < 13.2 ms, the ECAT-2610 will sync to DC at every first command.
So the timing diagram of DC=10 mS is as same as DC=20 ms above. The total command cycle time
can be greater then DC cycle time without any problem.
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