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

No. SX-DSV02310 - 12 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
3-1-5 Transmission timing of communication cycle 1.0 ms/command updating cycle 1.0 ms
Operation W R
Communication cycle 1.0 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])
Operation W R Operation W R 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-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]
Pr.7.21 = 1
Pr.7.20 = 6
NC operation cycle 1.0 ms
(Command update cycle)