slave task
slave task
slave task
slave task
slave task
slave task
time
time
slave task
slave task
slave task
slave task
slave task
slave task
slave 1
slave 1
slave 2
slave 2
slave 3
slave 3
master
master
slave task
slave task
slave task
slave task
slave task
slave task
ethercat frame
ethercat frame
ethercat frame
ethercat frame
SM-synchronous
SM-synchronous
DC-synchronous
DC-synchronous
slave task
slave task
slave task
slave task
slave task
slave task
1 - 10 µs
1 - 10 µs
10-100 ns
10-100 nsText is not SVG - cannot display