Motion Control Units
Product Specifications
12
Performance
The following table shows the typical values of each performance item. These values, however, vary according to the task configuration, axis
configuration, and so on. For details, refer to the
Motion Control Units Operation Manual (W359-E1-1).
Item
Typical value
Description
Power ON startup time
Average: 600 ms
Time from turning ON the power until
manual operation commands are accepted.
Cyclic service time
CS1W-MC221:
0.8 ms/Unit
CS1W-MC421:
0.85 ms/Unit
Time by which the CPU Unit cycle time will
be extended per MC Unit.
IOWR execution time
0.7 ms/instruction
Time by which the cycle time will be
extended when IOWR is executed.
IORD execution time
0.8 ms/instruction
Time by which the cycle time will be
extended when IORD is executed.
Data write time
475 ms/1,000 words
Time from when IOWR is executed until
data transfer is completed.
Data read time
470 ms/1,000 words
Time from when IORD is executed until
data transfer is completed.
Operation startup time
CS1W-MC221:
8 ms
CS1W-MC421:
12 ms
MC221:
Time for X axis operation with a
1-task, 2-axis configuration.
MC421:
Time for X axis operation with a
1-task, 4-axis configuration.
Analog voltage output time lag per axis for
interpolation
CS1W-MC221:
150
µ
s
CS1W-MC421:
210
µ
s
Time delay when interpolation is performed
for 1 task.
Analog voltage output time lag per axis for
independent operation
CS1W-MC221:
4.3 ms/axis
CS1W-MC421:
4.3 ms/axis
Time delay when one axis each is started
for all tasks simultaneously.
Interrupt notification time
2.25 ms
When C200H
j
-series Special I/O Unit is
not mounted.
G language interpretation time
CS1W-MC221:
2.0 ms
CS1W-MC421:
4.2 ms
Interpretation time for G language when
axis movement is not performed.
Minimum operation time
CS1W-MC221:
8.5 ms
CS1W-MC421:
9.5 ms
When the time for linear interpolation is
equal to or less than the values give, Stop
Mode operation will be used even in Pass
Mode or In-Position Check OFF Mode.
Minimum traverse reversal time
2 ms
Reversing operation is possible every 2 ms
for traverse operation.
External input response time
General purpose input:
1 ms max.
Emergency stop input:
4.5 ms max.
CW/CCW limit input:
4.5 ms max.
Origin proximity input:
4.5 ms
Response time to external input signals.
Zone Flag notification time
CS1W-MC221:
14.08 ms
CS1W-MC421:
34.08 ms
The time required for one Zone Flag to
respond.
G Language
Example
Block number (N000 to N999): Equivalent to a program line number.
Program number and axis declaration
G code: 2-digit number following “G” represents a command.
Incremental Specification
Positioning: Moves the X axis by 100 and the Y axis by 50
from the present position, and outputs M code 001 after
positioning has been completed.
N000 P001 XY
N001 G91
N002 G00 X100 Y50 M001
