Command And Response Timing; Command Data Execution Timing; Monitored Data Input Timing - YASKAWA S-7 Series Command Manual

1.4

Command and Response Timing

This section describes command execution timing at the SERVOPACK and monitored data
input timing at the master station.
These timings are constant, regardless of the transmission cycle and communication cycle.
1.4.1

Command Data Execution Timing

Motion commands (such as POSING and INTERPOLATE), and the servo command control and
servo command I/O signals (SVCMD_CTRL and SVCMD_IO) are executed 125 μs after their
reception.
Command
Transmission cycle
Master sends
Slave sends
Communication
interruption
Slave station
1.4.2

Monitored Data Input Timing

The monitor, I/O, and status data are the data of 125 μs before the response is sent.
Command
Transmission cycle
Master sent
Slave sent
Communication
interruption
Slave station
Received Sent
125 s until the motor starts running
Received Sent
Position and signal data 125 s before

1.4 Command and Response Timing

1.4.1 Command Data Execution Timing

Response
Response
1
1-5