ICPDAS ECAT-2610 User Manual page 65

EtherCAT to Modbus RTU Gateway
If the DC-Synchron is disable, the DO1 and DO2 is independent, the typical timing diagram is about
some ms given as follows:
DO1 to DO2 = 2 ms
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Figure 7.2-13
DO1 to DO2 = 5 ms
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Figure 7.2-14
The worse case of DO1 to DO2 is about 7 ms, refer to

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Section 7.1 "Modbus RTU Timing".
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