The cyclic telegrams form the normal process data and can usually not be modified during system runtime. A known configuration, i.e.

TwinCAT 3.1 enables management of TwinCAT licenses via the EL6070 EtherCAT Terminal. The EL6070 is used as a hardware license key in the modular EtherCAT I/O system. Data transfer takes place via EtherCAT. For even more convenient handling of the TwinCAT 3.1 licensing, from hardware version 02 the EL6070 license key terminal is equipped with a.

The number of connected EtherCAT slaves, always results in the same minimum quantity of process data, which have to be sent with the master for cyclic communication between the devices. The cyclic (i.e. At constant intervals triggering task, e.g. A PLC task with a 10 ms runtime) triggers the communication with the EtherCAT field. Once the communication is complete the EtherCAT master returns the process data. On IPC/embedded systems TwinCAT generally operates with constant cycle times between 50 µs and > 100 ms.

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The arithmetic operations of the task must be completed within this cycle time. The high communication performance of EtherCAT (high 100 Mbit/s data throughput) enables the sent EtherCAT telegrams to return to the controller before the start of the next cycle, even in large configurations containing more than 1000 devices. Task execution and bus communication is therefore configured as a synchronous task in TwinCAT. A key factor for high-quality execution is low jitter, i.e. The tasks should be executed and restarted with high time precision. The EtherCAT master itself “only” controls the construction and interpretation of the EtherCAT telegrams. A TwinCAT-based controller is based on cyclic execution of a task with constant repeat rate (cycle time).

Usual cycle times in a TwinCAT environment range from 50 µs over 1 ms to several 100 ms. The cycle time is selected during configuration setup depending on the processing power of the controller, the bus devices, the executed programs, the application requirements and other factors. Cyclically executed task may include NC calculations, PLC code, visualizations or R3 applications created and triggered by the customer.

The tasks may have different cycle times, but have to be weighted in terms of priority. Higher priority tasks may interrupt/pause lower priority tasks. The lower priority task continues as soon as the priority list permits this.

If more than one CPU core is used (only possible with TwinCAT 3), several tasks can be executed in parallel. In a correctly dimensioned and parameterized TwinCAT system all configured tasks can be executed within the specified cycle time once during the whole cycle, even if they have different priorities. The settings automatically applied by the System Manager during configuration setup usually ensure stable operation of the configuration. The whole cycle is defined by the slowest task.


For example, with a 1 ms and a 100 ms task on the same system, the fast task is executed 100 times before the slow task is executed. Easy hdtv dvr 1 2 1 keygen generator golf.