For the EtherCAT communications timeout value, multiply the EtherCAT communications cycle
time by the "PDO communications timeout detection count" in the EtherCA
T Unit setup and
use the resulting value.
Precautions for Correct Use
• To increase the communications timeout time, you much change both the safety task period
and the value of the FSoE watchdog timer.
Refer to
8-3-3 Settings for FSoE Watchdog Timers on page 8 - 10 for information on chang-
ing the FSoE watchdog timer.
• If the EtherCAT communications cycle is 250 us or lower, use the following minimum safety
task periods.
NX-SL££££ version 1.1 or later: 9 ms or higher
NX-SL££££ version 1.0 or later: 13 ms or higher
Additional Information
We recommend that you set the safety task period with plenty of leeway to allow for the possi-
bility of expanding the safety control system or safety programs in the future.
8 Calculating Safety Reaction Times
8 - 8
NX-series Safety Control Unit User's Manual (Z930)
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