APPENDICES
APP
−
49
APPENDIX 6 PROCESSING TIMES
The following tables list the processing time of each instruction for positioning
control in the servo system CPU.
(1) Motion operation cycle (ms)
CPU
A172SH
A171SH
Number of set axes
1 to 8
1 to 4
Operation cycle
3.5ms
3.5ms
(2) SCPU instruction processing time (
µ
s)
CPU
A172SH
A171SH
Number of set axes
1 to 8
1 to 4
1 axis started
48
2 or 3 axes started
105
SVST
Error
50
1 axis started
48
2 to 4 axes started
65
DSFRP
Error
60
CHGV
27
Normal
28
DSFLP
(speed change)
Error
50
CHGA
32
Normal
28
DSFLP
(present value change)
Error
50
CHGT
24
END
1400
(3) CPU processing time (ms)
CPU
A172SH
A171SH
Number of set axes
1 to 8
1 to 4
Servo program start processing time
(Note-1)
4 to 11
4 to 11
Speed change response
0 to 4
0 to 4
Torque limit value change response
0 to 4
0 to 4
Simultaneous start processing time
(Note-2)
7 to 17
7 to 17
Time from PLC ready flag (M2000) ON to
PCPU ready flag (M9074) ON
50 to 600
50 to 350
(Note-1) : The FEED instruction varies greatly depending on the condition (whether other axes are operating or being
stopped).
(Note-2) : This processing time varies depending on the commands to be started simultaneously. Use this time merely
for reference.
For other sequence program instruction processing times, refer to the ACPU
Programming Manual.
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