Omron CP1H CPU UNITS - PROGRAMMING 05-2007, Operation Manual

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102
Computing the Cycle Time
Section 2-7
2-7-11 Pulse Output Change Response Time
The pulse output change response time is the time for any change made by
executing an instruction during pulse output to actually affect the pulse output
operation.
Pulse output instruction Start time
SPED: continuous 53
µ
s
SPED: independent 55
µ
s
ACC: continuous 65
µ
s
ACC: independent, trapezoidal 69
µ
s
ACC: independent, triangular 70
µ
s
PLS2: trapezoidal 74
µ
s
PLS2: triangular 76
µ
s
Pulse output instruction Change response time
INI: immediate stop 57
µ
s + 1 pulse output time
SPED: immediate stop 54
µ
s + 1 pulse output time
ACC: deceleration stop 1 control cycle (4 ms) minimum,
2 control cycles (8 ms) maximum
PLS2: deceleration stop
SPED: speed change
ACC: speed change
PLS2: target position change in
reverse direction
PLS2: target position change in
same direction at same speed
PLS2: target position change in
same direction at different speed