Yaskawa LEGEND-MC - Manual (Page 201)

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LEGEND-MC User’s Manual
QW (Slave Record Update Rate)
[Configuration]
DESCRIPTION:
The QW command is given to the master controller of a distributed system. The value establishes the
update rate for data records to be sent from the slave controllers to the master controller. This command is
executed on the master controller, which distributes the setting to the proper slave.
ARGUMENTS: QWh=n where
h is the handle being used to send commands to the slave controller.
n = an even integer between 4 and 16000. this sets the period at which the slave controller updates the
master controller. the value of n represents the number of servo update cycles (default update cycle is 1
msec, see the TM command). The slave controller will always wait for this period after a data record has
been sent before generating a new record.
USAGE:
RELATED COMMANDS:
EXAMPLES:
NOTE: The recommended value for QW is (11mSec * number of slave axes) Example, a system with three
total axes should have a QW setting of 22.
While Moving Yes Default Value ---
In a Program Yes Default Format ---
Command Line Yes Distributed Control Specific Axis
"CH" Connect Handle
"NA" Number of Axes
"SA" Send Command
CHC=A,B Using one LEGEND-MC as a master and one
LEGEND-MC as a slave. This command
assigns the slave, identified by the C axis
designator, with Handle A for commands and
Handle B for status returned from the slave.
QWB=20 Sets the update rate for the slave controller to
20 msec (TM=1000).