ID2 'SERCOS cycle time'

Supported hardware:	A4 / A5 / A6 / KW-R06 / KW-R16 / KW-R07 / KW-R17 / KE(N,S)-xEx / iX / iC / iDT5 / iX(-R3) / iC(-R3) / iDT5(-R3) / ihXT / iSA / KW-R24 / KW-R24-R / KW-R25 / KW-R26 / KW-R27 /
Sphere of action:	Device-specific values	Default value:	1000
Access:	READING / WRITING	Scale:	0.001
Temporarily changeable:	NO	Unit:	ms
Data length:	2 byte	Min. value:	Device-specific values
Signed:	NO	Max. value:	Device-specific values
Format:	DEC
List:	NO

Values for A4 / A5 / A6 / iSA /

Sphere of action:	INSTANCE
Min. value:	0.000 ms
Max. value:	65.535 ms

Values for KW-R06 / KW-R16 / KW-R07 / KW-R17 / KW-R24 / KW-R24-R / KW-R25 / KW-R26 / KW-R27 /

Sphere of action:	GLOBAL
Min. value:	0.250 ms
Max. value:	20.000 ms

Values for KE(N,S)-xEx /

Sphere of action:	GLOBAL
Min. value:	0.500 ms
Max. value:	20.000 ms

Values for iX / iC / iDT5 / iX(-R3) / iC(-R3) / iDT5(-R3) / ihXT /

Sphere of action:	GLOBAL
Min. value:	1.000 ms
Max. value:	20.000 ms

The 'SERCOS cycle time'defines the intervals in which cyclical data is sent and received.

The master synchronises all of the participants in the network by synchronising the 'SERCOS cycle time' of the slaves with each other.

Meaning for A4 / A5 / A6 / iSA /

Instance	Use	Interface	Interface
0	Global cycle time	-	-
1	ACC bus master	X137
2	EtherCAT slave (option A-SEC)	X85 (IN) / X86 (OUT)	X85 (IN) / X86 (OUT)
	EtherNet/IP Slave (option A-SIP)	X85 (IN) / X86 (OUT)	X85 (IN) / X86 (OUT)
	Profibus slave (option A-SPB)	X41	X42 (IN) / X43 (OUT)
	CAN / ACC bus slave (option A-SCN)	X41	X136 (IN) / X137 (OUT)
3	I/O extension local I/Os	X120, X121, X122	X05, X06
4	1st Ethernet interface	X20	X20
5	1st EtherCAT master	X186	X186
6	2nd EtherCAT master (in comparison)	X185
7	2nd Ethernet interface	X60

The cycle time of an instance can only be a multiple of the next smaller cycle time.

Examples :

I: Instance

ID2 I0: 1ms, ID2 I2: 4ms, ID2 I3: 8ms
ID2 I0: 2ms, ID2 I2: 6ms, ID2 I3: 12ms
ID2 I0: 2ms, ID2 I2: 4ms, ID2 I3: 12ms
ID2 I0: 1ms, ID2 I2: 2ms, ID2 I3: 5ms

valid parameterisation
valid parameterisation
valid parameterisation
invalid parameterisation

Meaning for KW-R06 / KW-R16 / KW-R07 / KW-R17 / iX / iC / iDT5 / iX(-R3) / iC(-R3) / iDT5(-R3) / ihXT / KW-R24 / KW-R24-R / KW-R25 / KW-R26 / KW-R27 /

The following condition must be met if 32 bit position setpoints are processed:

ID1 'NC cycle time' = ID2 'SERCOS cycle time'

Meaning for KW-R06 / KW-R07 /

The following condition must be met if 16 bit position setpoints (pulse encoder input) are processed:

ID1 'NC cycle time' = ID2 'SERCOS cycle time' = ID32958 'Commant value 1 cycle'