228
Interrupt Response Times
Appendix C
Pulse Output Startup Time
The startup time is the time it takes between the execution of a pulse output instruction and the actual output of
pulses from the output terminals. The startup time depends on the pulse output instruction being used and the
selected operation.
Pulse Output Change Response Time
In some cases, another pulse output instruction can be executed during a pulse output operation to change the
settings or the operation itself. The change response time is the time it takes between the execution of another
pulse output instruction and the actual change in the pulse output at the output terminals.
Pulse output instruction
Startup time
CJ1M-CPU22/23
CJ1M-CPU21
SPED(885) (Continuous)
46
µ
s
63
µ
s
SPED(885) (Independent)
50
µ
s
68
µ
s
ACC(888) (Continuous)
60
µ
s
85
µ
s
ACC(888) (Independent, trapezoidal control)
66
µ
s
95
µ
s
ACC(888) (Independent, triangular control)
68
µ
s
98
µ
s
PLS2(887) (Trapezoidal control)
70
µ
s
100
µ
s
PLS2(887) (Triangular control)
72
µ
s
104
µ
s
Pulse output instruction
Change response time
CJ1M-CPU22/23
CJ1M-CPU21
INI(880) (Immediate stop)
60
µ
s + 1 pulse output time
67
µ
s + 1 pulse output time
SPED(885) (Immediate stop)
62
µ
s + 1 pulse output time
80
µ
s + 1 pulse output time
ACC(888) (Decelerate to a stop)
Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
PLS2(887) (Decelerate to a stop)
Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
SPED(885) (Change speed)
Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
ACC(888) (Change speed)
Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
PLS2(887) (Change target position, reverse)
Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
PLS2(887) (Change target position, same direc-
tion, same speed)
Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
PLS2(887) (Change target position, same direc-
tion, change speed)
Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
Instruction execution
Pulse output
Startup time
Summary of Contents for CJ1M-CPU21
Page 1: ...Cat No W395 E1 03 CJ series Built in I O CJ1M CPU21 22 23 CJ1M CPU Units...
Page 2: ...CJ series Built in I O CJ1M CPU21 22 23 CPU Units Operation Manual Revised August 2004...
Page 3: ...iv...
Page 19: ...xx...
Page 79: ...50 Wiring Examples Section 3 3...
Page 217: ...188 Origin Search and Origin Return Functions Section 6 3...
Page 220: ...191 Built in Outputs Section 7 1...
Page 247: ...218 Built in Outputs Section 7 1...
Page 251: ...222 Combinations of Pulse Control Instructions Appendix A...
Page 255: ...226 Using Pulse Instructions in other CPU Units Appendix B...
Page 263: ...234 Index...
Page 265: ...236 Revision History...
