1.4 Command and Response Timing
1.4.1 Command Data Execution Timing
1-5
1
MECHA
TROLINK-III Communication
S
etting
s
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
μ
s after their
reception.
1.4.2
Monitored Data Input Timing
The monitor, I/O, and status data are the data of 125
μ
s before the response is sent.
Communication
interruption
Tran
s
mi
ss
ion cycle
Ma
s
ter
s
end
s
S
lave
s
end
s
S
lave
s
tation
Command
Received
125
s
until the motor
s
tart
s
running
S
ent
Re
s
pon
s
e
Communication
interruption
S
lave
s
tation
Tran
s
mi
ss
ion cycle
Ma
s
ter
s
ent
S
lave
s
ent
S
ent
Po
s
ition and
s
ignal data 125
s
before
Re
s
pon
s
e
Received
Command
