Omron CS1W-NC113 - REV 02-2008, Manual

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Appendix A Performance Characteristics
314
START Execution Time
The time required from when a START command is recognized until pulses are output will vary depending on the
combination of positions to be executed.
START
Pulse output
Time
Opera-
i
NC1
j
3
NC2
j
3 NC4
j
3 p
tion
j
Y-axis
starting
while X
axis is
stopped
Y-axis
starting
while X
axis is
operating
X-axis
and
Y-axis
simulta-
neous
starting
Interpolation
starting from
X-axis (2-axis
control)
U-axis
starting
while X,
Y, and Z
axes
are
stopped
U-axis
starting
while X,
Y, and Z
axes are
operating
X, Y, Z,
and
U-axis
simul-
ta-
neous
starting
Interpolation
starting from
X-axis (4-axis
control)
Jogging 2 ms
max.
2 ms
max.
2.5 ms
max.
3 ms
max.
--- 2 ms
max.
3 ms
max.
4 ms
max.
---
Memory
operation
2 ms
max.
2 ms
max.
3 ms
max.
3 ms
max.
3 ms max. 2 ms
max.
3.5 ms
max.
4 ms
max.
3.5 ms max.
Direct
operation
2 ms
max.
2 ms
max.
3 ms
max.
3 ms
max.
--- 2 ms
max.
3.5 ms
max.
4 ms
max.
---
Note The conditions under which the values in the above table hold are as follows:
•
During the time between the START command being made at the PC (END refresh) and the time at which pulse
output starts, no other commands are output (cycle time: 10 ms).
•
The IOWR or IORD instructions are not executed.
•
The IORF instruction is not executed.
•
The Override Enable Bit is OFF.
•
No data saving or data transfer operations are executed.
•
Error counter reset output/origin-adjustment command output is OFF.
•
CX-Position is not used.
•
The following parameter settings are made:
Maximum speed: 200 kpps
Initial pulse designation: 1 (maximum speed set with axis’ parameters)
Acceleration/deceleration curve: Trapezoid
Even if the START commands for multiple axes are recognized simultaneously, there will be a discrepancy in the
actual pulse output.
START
Pulse output
Output
delayed
X
Y
X
Y