Omron C200HW, Operation Manual

Page: 255 / 285

Appendix A
Data Calculation Standards
246
START Execution Time
The time required from when a START command is recognized until pulses are output will vary depending on the
combination of positions to be executed.
START
Pulse output
Time
Even if the START commands for multiple axes are recognized simultaneously, there will be a discrepancy in the
actual pulse output.
START
Pulse output
Time
Opera-
ti
NC113 NC213 NC413 p
tion
Y-axis
starting
while X
axis is
stopped
Y-axis
starting
while X
axis is
operating
X-axis
and
Y-axis
simulta-
neous
starting
Interpolation
starting from
X-axis (2-axis
control)
U-axis
starting
while X,
Y, and Z
axes
are
stopped
U-axis
starting
while X,
Y, and Z
axes are
operating
X, Y, Z,
and
U-axis
simul-
ta-
neous
starting
Interpolation
starting from
X-axis (4-axis
control)
Jogging 8 ms 7.5 ms 9 ms 11 ms --- 8.5 ms 10.5 ms 17 ms ---
Memory
operation 9 ms 8 ms 10 ms 14 ms 10 ms 9 ms 11 ms 24 ms 12 ms
Direct
operation 9 ms 8.5 ms 9.5 ms 12 ms --- 9 ms 11 ms 19 ms ---
Data Transfer and Data Saving Time
When data is transferred using either the READ DATA and WRITE DATA commands (word n+1, bits 12 and 13) or
the IORD and IOWR instructions, the execution time will vary depending on the number of words of data to be
transferred. The following tables show the average times for transferring positioning sequences.
Data Reading Time
Amount of
data to be
NC113 NC213 NC413
data to be
read
IORD READ DATA IORD READ DATA IORD READ DATA
3 words 1.7 ms 27 ms 1.7 ms 31 ms 2.5 ms 49 ms
15 words 2.5 ms 29 ms 2.5 ms 32 ms 3.7 ms 46 ms
30 words 3.5 ms 31 ms 3.5 ms 34 ms 5.3 ms 47 ms
126 words 10.5 ms --- 10.5 ms --- 15 ms ---
300 words --- 85 ms --- 92 ms --- 121 ms
672 words --- 185 ms --- 188 ms --- 242 ms