Omron SYSMAC CP Series, User Manual

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A-103
Appendices
CP2E CPU Unit Software User’s Manual(W614)
A-3 R
espo
n
se P
erf
orm
ance
App
A-
3
-4 Pulse Output Star
t 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.
* The wait time occurs when there is competition with other interrupts. As a guideline, the wait time will be 0 to 3 ms.
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.
*1 The wait time occurs when there is competition with other interrupts. As a guideline, the wait time will be 0 to
3 ms.
*2 When the frequency of pulse output is lower than 250Hz, 1 control cycle will be equal to the time of pulse output.
Example: The change response time of 100Hz pulse output is above 1 control cycle (10ms) and below 2 control
cycles (20ms).
A-3-4 Pulse Output Start Time
Pulse output instruction Start time
SPED: continuous Minimum: 500µs + Wait time*
SPED: independent
ACC: continuous
ACC: independent, trapezoidal
ACC: independent, triangular
PLS2: trapezoidal
PLS2: triangular
IFEED: interrupt feeding
ITPL: linear interpolation
A-3-5 Pulse Output Change Response Time
Pulse output instruction Change response time
INI: immediate stop
Minimum: 100µs + Wait time
*1
+ 1 pulse output time
SPED: immediate stop
ACC: deceleration stop 1 control cycle (4 ms) minimum, 2 control cycles ( 8
ms) maximum
*2
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
Start time
Instr u ction
exec u tion
P u lse o u tp u t