Panasonic MINAS-A5NL Series - Transmission Timing of Communication Cycle 0.1666 Ms;Command Updating Cycle 0.1666 Ms; Transmission Timing of Communication Cycle 0.0833 Ms;Command Updating Cycle 0.1666 Ms

No. SX-DSV02310 - 11 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
3-1-3 Transmission timing of communication cycle 0.1666 ms/command updating cycle 0.1666 ms
3-1-4 Transmission timing of communication cycle 0.0833 ms/command updating cycle 0.1666 ms
Communication cycle 0.0833 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)
R/W
Command/response process
Servo operation
Command/response process for Cmd [N]
 Command_Code_Echo is not immediately returned.
C[N+1]
U[N+1]
C[N+2]
U[N+2]
C[N-1]
U[N-1]
C[N+3]
U[N+3]
OperationW R OperationW R Operation W R
R/W
OperationW R
C[N+4]
U[N+4]
Note: Data response process depending on the control
mode. When the control mode has been changed
between Cmd[N-1] and Cmd[N], result of operation
in the chan
g
ed mode is returned at this
p
oint.
C[N]
U[N]
C[N]
U[N]
C[N+1]
U[N+1]
C[N+2]
U[N+2]
C[N+3]
U[N+3]
C[N-2]
U[N-1]
C[N-1]
U[N]
C[N]
U[N+1]
C[N+1]
U[N+2]
C[N+2]
U[N+3]
C[N-1]
U[N]
C[N]
U[N+1]
C[N+1]
U[N+2]
C[N+2]
U[N+3]
C[N-2]
U[N-1]
OperationW R
(Cmd[N+1])(Cmd[N])(Cmd[N-1]) (Cmd[N+2]) (Cmd[N+3])
Pr.7.21 = 2
Pr.7.20 = 0
Operation W R
Communication c
y
cle 0.1666 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])
R/W
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]
OperationW R OperationW R Operation W R
R/W
OperationW R W R
Cmd[N+4]
UpCnt[N+4]
Cmd[N+2]
UpCnt[N+3]
(Cmd[N+3])
N
ote: Data response process depending on the control mode.
When the control mode has been changed between
Cmd[N-1] and Cmd[N], result of operation in the
changed mode is returned at this point.
Pr.7.21 = 1
Pr.7.20 = 1
NC operation cycle 0.1666 ms
(Command update cycle) 0.1666 ms
NC operation cycle 0.1666 ms
(Command update cycle) 0.1666 ms