Omron CJ1W-C113 - REV 02-2008, Operation Manual

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Performance Characteristics Appendix A
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.
Note The conditions under which the values in the above table hold are as follows:
• During the time between the START command being made at the PLC (END refresh) and the time at which
pulse output starts, no other commands are output (cycle time: 10 ms).
• The IOWR or IORD instructions are not executed.
• The IORF instruction is not executed.
• The Override Enable Bit is OFF.
• No data saving or data transfer operations are executed.
• Error counter reset output/origin-adjustment command output is OFF.
• CX-Position is not used.
• The following parameter settings are made:
Maximum speed: 200 kpps
Initial pulse designation: 1 (maximum speed set with axis’ parameters)
Acceleration/deceleration curve: Trapezoid
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-
tion
NC1 @ 3 NC2 @ 3 NC4 @ 3
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
simulta-
neous
starting
Interpolation
starting from
X-axis (4-axis
control)
Jogging 2 ms
max. 2 ms
max. 2.5 ms
max. 3 ms
max. --- 2 ms
max. 3 ms max. 4 ms
max.
---
Memory
operation 2 ms
max. 2 ms
max. 3 ms max. 3 ms
max.
3 ms max. 2 ms
max. 3.5 ms
max. 4 ms
max. 3.5 ms max.
Direct
operation 2 ms
max. 2 ms
max. 3 ms max. 3 ms
max.
--- 2 ms
max. 3.5 ms
max. 4 ms
max. ---
START
Pulse output
Output
delayed
X
Y
X
Y