Panasonic MINAS-A5NL Series - Transmission Timing of Communication Period 0.5 Ms;Command Updating Period 0.5 Ms; Transmission Timing of Communication Cycle 0.5 Ms;Command Updating Cycle 1.0 Ms

No. SX-DSV02310 - 10 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
3-1-1 Transmission timing of communication period 0.5 ms/command updating period 0.5 ms
3-1-2 Transmission timing of communication cycle 0.5 ms/command updating cycle 1.0 ms
Operation W R
Communication cycle 0.5 ms
Operation at master
T = 1 ms
Master TX (Command)
Data exchange at servo
driver
Previous result of
NC operation
Data
exchange
R/W
R/W
R/W
R/W
Update_Counter_
Echo is immediately
returned
Master RX (Response)
(Cmd [N])
NC operation cycle 1.0 ms
(Command update cycle)
Operation W R
R/W
Command/response process
Servo operation
Command/response process for Cmd [N]
 Command_Code_Echo is not immediately returned
Cmd [N-1]
UpCnt [N-1]
Cmd [N]
UpCnt [N]
Cmd [N-1]
UpCnt [N]
Cmd [N+1]
UpCnt [N+1]
Cmd [N]
UpCnt [N]
Cmd [N]
UpCnt [N]
(Cmd [N]) (Cmd [N-1]) (Cmd [N+1])
Cmd [N+1]
UpCnt [N+1]
Cmd [N]
UpCnt [N+1]
W R
P
r
.7.21 = 2
P
r
.7.20 = 3
Operation W R
Communication period 0.5 ms
Operation at master
T = 0.5 ms
Master TX (Command)
Data exchange at servo
driver
Previous result of
NC operation
Data
exchange
R/W
R/W
R/W
R/W
Update_Counter_
Echo is immediately
returned.
Master RX (Response)
(Cmd [N+1])
NC operation cycle 0.5 ms
(Command update cycle)
Operation W R Operation W R Operation W R
Command/response process
Servo operation
Command/response process for Cmd [N]
 Command_Code_Echo is not immediately returned.
Cmd [N-2]
UpCnt [N-1]
Cmd [N+1]
UpCnt [N+1]
Cmd [N-1]
UpCnt [N]
Cmd [N+2]
UpCnt [N+2]
Cmd [N]
UpCnt [N+1]
Cmd [N]
UpCnt [N]
(Cmd [N]) (Cmd [N-1]) (Cmd [N+2])
Cmd [N+3]
UpCnt [N+3]
Cmd [N+1]
UpCnt [N+2]
P
r
.7.21 = 1
P
r
.7.20 = 3
R/W