Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 186)

6.6 Command and Response Timing
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6.6 Command and Response Timing
This section describes the execution timing for command data and the input timing for monitor data. This timing
is constant, regardless of the transmission cycle and communications cycle.
6.6.1 Command Data Execution Timing
Motion commands (POSING, INTERPOLATE) and the OPTION (command data field) are executed 425 s after
they are received.
6.6.2 Monitor Data Input Timing
The monitor, I/O, and status data is the data 450 µs before the response is sent.
Transmission cycle
Master sent
Received
425 µs until the motor starts
Slave sent
Command sent
Sent
Response received
Transmission cycle
Master sent
Slave sent
Sent
Position and signal data 450 µs before
Responce received
Received
Command sent