4.6 Command and Response Timing
108
4.6
Command and Response Timing
This section describes the execution timing for command data and the input timing for monitor data.
This timing is constant, regardless of the transmission cycle and communications cycle.
4.6.1 Command Data Execution Timing
Motion commands (POSING, INTERPOLATE) and the OPTION (command data field) are executed
625
μ
s after they are received.
4.6.2 Monitor Data Input Timing
The monitor, I/O, and status data is the data 625
μ
s before the response is sent.
Transmission cycle: 1 ms
Master sent
Slave sent
Received Sent
625
μ
s until the motor starts
Command sent
Response received
Transmission cycle: 1 ms
Master sent
Slave sent
Position and signal data 625
μ
s before
Responce received
Received Sent
Command sent
TOEP_C710806_03A_1_0.book Seite 108 Montag, 2. Juli 2007 3:55 15
