3 command and response timing, 1 command data execution timing, 2 monitored data input timing – Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands User Manual

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1 MECHATROLINK-II Commands

1.3.1 Command Data Execution Timing

1-8

1.3 Command and Response Timing

This section describes command execution timing at a slave station and monitored data input timing at the

master station.

These timings are constant, regardless of the transmission cycle and communications cycle.

1.3.1 Command Data Execution Timing

Motion commands (such as POSING and INTERPOLATE) and the OPTION in the command data field are

executed 312.5

μs after they are received.

1.3.2 Monitored Data Input Timing

The monitor, I/O, and status data are the data of 312.5

μs before the response is sent.

Transmission cycle

Master sends

Received

312.5

s until the motor starts running

Slave sends

Command

Sent

Response

Transmission cycle

Master sent

Slave sent

Sent

Position and signal data 312.5 μs before

Response

Received

Command