Impact of Latency and Jitter on TAS Scheduling in a 5G-TSN Network: An Empirical Study Rodríguez Martín, Pablo Adamuz Hinojosa, Óscar Ramón Muñoz Luengo, Pablo Caleya Sánchez, Julia Ameigeiras Gutiérrez, Pablo José TSN IEEE 802.1Qbv 5G This work has been financially supported by the Ministry for Digital Transformation and the Civil Service of the Spanish Government through TSI-063000-2021-28 (6G-CHRONOS) project, and by the European Union through the Recovery, Transformation and Resilience Plan - NextGeneration. Additionally, this publication is part of grant PID2022-137329OB-C43 funded by MICIU/AEI/10.13039/501100011033 and ERDF/EU, and part of FPU Grant 21/04225 funded by the Spanish Ministry of Universities. Deterministic communications are essential to meet the stringent delay and jitter requirements of Industrial Internet of Things (IIoT) services. IIoT increasingly demands wide-area wireless mobility to support Autonomous Mobile Robots (AMR) and dynamic workflows. Integrating Time-Sensitive Networking (TSN) with 5G private networks is emerging as a promising approach to fulfill these requirements. In this architecture, 5G provides wireless access for industrial devices, which connect to a TSN backbone that interfaces with the enterprise edge/cloud, where IIoT control and computing systems reside. TSN achieves bounded latency and low jitter using IEEE 802.1Qbv Time-Aware Shaper (TAS), which schedules the network traffic in precise time slots. However, the stochastic delay and jitter inherent in 5G disrupt TSN scheduling, requiring careful tuning of TAS parameters to maintain end-to-end determinism. This paper presents an empirical study evaluating the impact of 5G downlink delay and jitter on TAS scheduling using a testbed with TSN switches and a commercial 5G network. Results show that guaranteeing bounded latency and jitter requires careful setting of TAS transmission window offset between TSN switches based on the measured 5G delay bounded by a high order p-th percentile. Otherwise, excessive offset may cause additional delay or even a complete loss of determinism. 2026-03-11T11:05:33Z 2026-03-11T11:05:33Z 2026-03 journal article Rodríguez Martín, P.; Adamuz Hinojosa, O. R.; Muñoz Luengo, P. [et al]. (2026). Impact of Latency and Jitter on TAS Scheduling in a 5G-TSN Network: An Empirical Study. IEEE Internet of Things Journal. DOI: https://doi.org/10.48550/arXiv.2603.07309 2327-4662 https://hdl.handle.net/10481/112032 10.1109/JIOT.2026.3673410 10.48550/arXiv.2603.07309 eng open access IEEE