Omron CS1W-MC221 -, Operation Manual

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Performance Appendix A
Controlling One Axis in Each Task
The delays in outputting analog voltages for linear interpolation in separate tasks are shown below. (The
CS1W-MC221 supports only tasks 1 and 2, and the X and Y axes.)
The above times assume that the CPU Unit cycle time is 2 ms, that the Teaching Box is not connected, and
that all tasks are started simultaneously.
Interrupt Notification Time
The time required for the MC Unit to send an interrupt to the CPU Unit using a D code is given below for the fol-
lowing command line. The interrupt is sent to the CPU Unit after positioning has been completed.
G01 X1000 D100
Only CS Special I/O Units mounted in PLC: 0.25 to 2.25 ms
CS and C200H Special I/O Units mounted in PLC: 1.25 to 3.25 ms
Note If the CPU Unit is already processing an interrupt when the MC Unit attempts to send an interrupt, the
MC Unit will wait up to 10 ms. If the interrupt is still not accepted, the MC Unit will generate a D code tim-
eout error.
G Code Interpretation Time
The time required to interpret a G code command line that does not require movement is shown in the follow-
ing table.
Minimum Operation Time in Pass Mode
The minimum operation time in Pass Mode is given in the following table.
Time MC221 MC421
T1 2 to 4.3 ms 3 to 4.3 ms
T2 --- 3 to 4.3 ms
T3 --- 3 to 4.3 ms
U axis
Z axis
Y axis
X axis
Task 4
Task 3
Task 2
Task 1
Task 4
Task 3
Task 2
Task 1
MC221 MC421
Pass Mode 1.5 to 2.0 ms 2.0 to 4.2 ms
Stop Mode or In-position Check OFF Mode 2.4 to 3.3 ms 3.8 to 6.9 ms
Operation MC221 MC421
Linear interpolation 8.5 ms 9.5 ms
Circular interpolation 10.0 ms 15.0 ms