Omron CS1W-MC221 -, Operation Manual

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Appendix A
Performance
MC Unit Processing Flow
The main system software processes in the MC Unit and the time required for them are shown in the following
diagram. (The CS1W-MC221 supports only axes X and Y, and tasks 1 and 2.)
As shown, the processing times depend on the number of tasks, on whether a Teaching Box is connected, on
zone settings, etc. Details on individual processes are given on the following pages.
Create U-axis zone information.
Power ON or Unit restarted.
Create Z-axis zone information.
Create Y-axis zone information.
Create X-axis zone information.
Determines if the axes are in the zones.
Only set axes and zones are processed.
Approx. 80
µ
s per zone.
Create present positions.
Present position created for each axis.
MC221: Approx. 0.6 ms, MC421: Approx. 0.8 ms
Execute task 4.
Execute task 3.
Execute task 2.
Execute task 1.
Commands from the CPU Unit executed.
Only declared tasks are processed.
Manual Mode: Origin search, jogging, etc.
Auto Mode:
G programs executed.
Process CX-Motion communications.
No communications: 0 ms; During program execu-
tion: 4 ms max.; Programs stopped: 20 ms max.
Process Teaching Box communications.
Teaching Box not connected: 0 ms
Teaching Box connected:
1 ms max.
Refresh data between CPU Unit and MC Unit.
See Affects on CPU Unit Cycle Time
and Data Transfer and Saving
Times.
CPU Unit processing and notification completed. See
Unit Startup Time.
See
Axis Startup Time.