Command And Response Timing; Command Data Execution Timing; Monitor Data Input Timing - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications

4.6.1 Command Data Execution Timing

4.6

Command and Response Timing

4.6.1
Command sent
Transmission cycle
Master sent
Slave sent
4.6.2
Command sent
Transmission cycle
Master sent
Slave sent
This section describes the execution timing for command data and the input timing for monitor
data. This timing is fixed, regardless of the transmission cycle and communications cycle.

Command Data Execution Timing

Motion commands (POSING, INTERPOLATE) and the OPTION command are executed
625 s after they are received.
Received Sent
625 µs until the motor starts

Monitor Data Input Timing

The monitor, I/O, and status data is the data 625 s before the response is sent.
Received Sent
Position and signal data 625 µs before
Response received
Responce received
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