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
μ
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