Omron NX102 series User Manual

6-25
6 Process Data Communications and SDO Communications
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
6-2 SDO Communications
6
6-2-4 Minimum Message Response Time for SDO Communications
The following timing chart shows an example of the timing from an execution of the SDO communi-
cations instruction to the completion of the instruction execution, based on the performance model
below.
Here, it is assumed that the program that executes the SDO communications instructions is
assigned to the primary periodic task.
Performance Model Example
Task period of primary periodic task [ms] 4
Divided period [ms] 1
SDO response data size [byte] 512
Slave SDO processing time [ms] 1.2
Message response time [ms] 8
Task period (4 ms)
UPG
Divided period
(1 ms)
SDO communications
instruction executed.
Frame
sent.
SDO
request
received.
SDO response
generation
completed.
Task period (4 ms)
UPG
Task period (4 ms)
EtherCAT master processing
UPG: User program execution
Slave SDO processing
Execution of SDO
communications
instruction
completed.
Line delay
EtherCAT master captures
SDO response data from slave:
256 bytes per frame.
Slave SDO
processing time

Omron NX102 series Specifications

General

Brand	Omron
Model	NX102 series
Category	Controller
Language	English