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

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Performance Characteristics Appendix A
Target Position Change Processing Time in Direct Operation
The target position can be changed during direct operation by changing the position data in the operating data
area and restarting the direct operation. The time from when the direct operation is restarted until the position
change is reflected in the pulse output is as follows:
Note The above values are for a PLC cycle time of 10 ms.
Pulse Output Timing for More than One Axis
There will be difference in the times required until pulse output starts for different axes when commands to start
operation for more than one axis are made simultaneously from the CPU Unit to the PCU within the same cycle
of the ladder program. These time differences are shown below.
Note The figures in the above table are based on the assumption that the
maximum speed setting for all the axes is the same and that the initial
pulse designation for the axes is 1 (maximum speed setting).
Operation NC1 @ 3 NC2 @ 3 NC4 @ 3
Position change response 2.8 to 4.9 ms 2.1 to 4.1 ms 2.2 to 5.9 ms
Operation NC1 @ 3 NC2 @ 3 NC4 @ 3
Commands to start direct operation made
to more than one axis simultaneously --- 20
µ
s max. 20
µ
s max.
Commands to start memory operation (sin-
gle-axis operation) made to more than one
axis simultaneously
Command to start memory operation using
linear operation (for 2 axes or more)
Position designation
Pulse output
Before change After change
Time
Direct operation
START
X-axis pulse output
Y-axis pulse output
Z-axis pulse output
U-axis pulse output
Time difference in pulse output