YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications
4.6.1 Command Data Execution Timing
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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 fixed, regardless of the transmission cycle and communications cycle.
4.6.1 Command Data Execution Timing
Motion commands (POSING, INTERPOLATE) and the OPTION command are executed
625 s after they are received.
4.6.2 Monitor Data Input Timing
The monitor, I/O, and status data is the data 625 s before the response is sent.
Transmission cycle
Master sent
Received
625 µs until the motor starts
Slave sent
Command sent
Sent
Response received
Transmission cycle
Master sent
Slave sent
Sent
Position and signal data 625 µs before
Responce received
Received
Command sent

YASKAWA MECHATROLINK Sigma 2 Series Specifications

General

Brand	YASKAWA
Model	MECHATROLINK Sigma 2 Series
Category	Control Unit
Language	English