4 - EtherCAT Configurator - Cycle Time Setting

In order to set the cycle time, a cyclic task has to be set. This task will be the update of a variable. In this case we will map an output variable to the first variable of the first node that is Drive 1.

  1. Expand the item: SYSTEM-Configuration in the project tree.
  2. Click on Real-Time Settings item and set to 250 us.
  3. Right click on the item “Additional Tasks” and select “Append task”.
  4. To set up a 1msec update, set the cycle ticks = 4. Set the cycle ticks to other values if other update rates are desired.
  5. Right click on the output item in “Additional tasks” and select “Insert variable”.
  6. Create an UINT16 with any name.
  7. Select the created variable and click on the button “Linked to”.
  8. Choose the ”Control Word” variable.

Figure 7-282: Task view

Figure 7-283: Variable view