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APPENDICES
Appendix 1 Processing Times of the Motion CPU
CPU processing time [ms]
The instruction processing time means the time until the content is reflected to servo amplifier side after each instruction is
executed.
(Including the transmission time between Motion controller and servo amplifier.)
*1 FEED instruction varies greatly depending on the condition (whether other axes are operating).
*2 The processing time gets larger depending on the number of axes set.
*3 CPU processing time when "Number of positioning points = 1".
R64MTCPU/R32MTCPU/R16MTCPU
Operation cycle [ms]
0.222
0.444
0.888
1.777
3.555
7.111
Servo program
start processing
time
"WAIT ON/OFF" + Motion control
step
0.444
0.888
1.777
3.554
7.110
14.222
Only Motion control step
0.666 to 0.888
1.110 to 1.554
1.998 to 2.886
3.776 to 5.553
7.332 to
10.887
14.444 to
21.555
Dedicated instruction (D(P).SVST)
from the PLC CPU
1.332 to 1.554
1.776 to 2.220
2.664 to 3.552
3.554 to 5.331
7.110 to
10.665
14.222 to
21.333
Dedicated instruction (M(P).SVST)
from the PLC CPU
0.888 to 1.110
1.332 to 1.776
2.220 to 3.108
2.666 to 4.443
5.333 to 8.888
10.667 to
14.222
Direct positioning
start request
processing time
Dedicated instruction
(D(P).SVSTD) from the PLC CPU
1.332 to 1.554
1.776 to 2.220
2.664 to 3.552
3.554 to 5.331
7.110 to
10.665
14.222 to
21.333
Dedicated instruction
(M(P).SVSTD) from the PLC CPU
0.888 to 1.110
1.332 to 1.776
2.220 to 3.108
2.666 to 4.443
5.333 to 8.888
10.667 to
14.222
Speed change
processing time
Instruction (CHGV) from the
Motion SFC
0.444 to 0.888
0.888 to 1.332
1.776 to 2.664
2.665 to 4.442
4.443 to 7.998
7.999 to
15.110
Dedicated instruction (D(P).CHGV)
from the PLC CPU
0.888 to 1.110
1.332 to 1.776
2.220 to 3.108
3.109 to 4.886
4.887 to 8.442
11.998 to
19.109
Dedicated instruction
(M(P).CHGV) from the PLC CPU
0.666 to 0.888
1.110 to 1.554
1.998 to 2.886
2.887 to 4.664
4.665 to 8.220
11.776 to
18.887
Command
generation axis
speed change
processing time
Instruction (CHGVS) from the
Motion SFC
0.444 to 0.888
0.888 to 1.332
1.776 to 2.664
2.665 to 4.442
4.443 to 7.998
7.999 to
15.110
Dedicated instruction
(D(P).CHGVS) from the PLC CPU
0.888 to 1.110
1.332 to 1.776
2.220 to 3.108
3.109 to 4.886
4.887 to 8.442
11.998 to
19.109
Dedicated instruction
(M(P).CHGVS) from the PLC CPU
0.666 to 0.888
1.110 to 1.554
1.998 to 2.886
2.887 to 4.664
4.665 to 8.220
11.776 to
18.887
Torque limit value
change
processing time
Instruction (CHGT) from the
Motion SFC
0.444 to 0.888
0.888 to 1.332
1.776 to 2.664
2.665 to 4.442
4.443 to 7.998
7.999 to
15.110
Dedicated instruction (D(P).CHGT)
from the PLC CPU
0.888 to 1.110
1.332 to 1.776
2.220 to 3.108
3.109 to 4.886
4.887 to 8.442
8.443 to
15.554
Dedicated instruction
(M(P).CHGT) from the PLC CPU
0.666 to 0.888
1.110 to 1.554
1.998 to 2.886
2.887 to 4.664
4.665 to 8.220
8.221 to
15.332
Target position
change
processing time
Instruction (CHGP) from the
Motion SFC
0.444 to 0.888
0.888 to 1.332
1.776 to 2.664
2.665 to 4.442
4.443 to 7.998
7.999 to
15.110
Machine program
operation start
processing time
Instruction (MCNST) from the
Motion SFC
1.332 to 1.776
1.776 to 2.664
2.665 to 4.442
4.443 to 7.998
Dedicated instruction
(D(P).MCNST) from the PLC CPU
1.776 to 2.220
2.664 to 3.552
3.554 to 5.331
7.110 to
10.665
Dedicated instruction
(M(P).MCNST) from the PLC CPU
1.332 to 1.776
2.220 to 3.108
2.666 to 4.443
5.333 to 8.888
G-code control
program start
processing time
Automatic operation start (cycle
start) ON
15.111 to
19.556
30.222 to
39.111
60.444 to
78.222
120.889 to
156.444
Time from "[Rq.1120] PLC ready flag (R: M30000/Q:
M2000)" ON to "PCPU READY complete flag (SM500)"
ON
22 to 165
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