70
Computing the Cycle Time
Section 2-7
2-7-10 Pulse Output Start Time
The pulse output start time is the time required from executing a pulse output
instruction until pulses are output externally. This time depends on the pulse
output instruction that is used and operation that is performed.
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
86
μ
s
SPED: independent
98
μ
s
ACC: continuous
103
μ
s
ACC: independent, trapezoidal
122
μ
s
ACC: independent, triangular
123
μ
s
PLS2: trapezoidal
145
μ
s
PLS2: triangular
146
μ
s
Start time
Instruction execution
Pulse output
Pulse output instruction
Change response time
INI: immediate stop
63
μ
s + 1 pulse output time
SPED: immediate stop
106
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
Summary of Contents for CP1L-EL20DR-D
Page 3: ...CP1L EL20D CP1L EM30D CP1L EM40D CP1L EL EM CPU Unit Operation Manual Produced July 2017...
Page 4: ...iv...
Page 10: ...x...
Page 22: ...xxii...
Page 34: ...xxxiv Software Licenses and Copyrights 7...
Page 192: ...158 Trial Operation and Debugging Section 5 3...
Page 250: ...216 Automatic Clock Adjustment and Specifying Servers by Host Name Section 6 7...
Page 666: ...632 Trouble Shooting Section 11 7...
Page 696: ...662 Standard Models Appendix A...
Page 805: ...771 Connections to Serial Communications Option Boards Appendix F Connecting to Unit...
Page 806: ...772 Connections to Serial Communications Option Boards Appendix F...
Page 836: ...802 PLC Setup Appendix G...
Page 838: ...804 TCP Status Transitions Appendix H...
Page 840: ...806 Ethernet Network Parameters Appendix I...
Page 842: ...808 Buffer Configuration CP1L EL EM Appendix J...
Page 844: ...810 Ethernet Specifications Appendix K...
Page 851: ...Index 817 work words 118 write protection 447...
Page 852: ...818 Index...
Page 854: ...820 Revision History...
Page 855: ......