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Performance
Appendix A
Unit Startup Time
When the MC Unit is turned ON or reset, it performs initialization processing and then turns ON the Manual
Mode Flag. The MC Unit can receive commands from the CPU Unit only after the Manual Mode Flag has
turned ON. Approximately 600 ms is required for the Manual Mode Flag to be turned ON.
Affects on CPU Unit Cycle Time
The cycle time of the CPU Unit will be increased by the following time for each MC Unit mounted in the PLC.
The time will be longer when the motors are moving than when the servos are unlocked.
The cycle time will also be increased if the IOWR or IORD instructions are used to read/write position data or
parameters in the MC Unit. The following tables shows the increase in the cycle time when position data for 1
to 4 positions is read or written.
Data Transfer and Saving Times
Large volumes of data can be written to or read from the command area using the IOWR instructions. Refer to
SECTION 4 Data Transfer and Storage
for details on using the command area to transfer data.
The data read/write times are listed in the following tables.
Up to 20 words can be transferred per CPU Unit cycle. Longer CPU Unit cycle times will thus increase the data
transfer time.
Conditions: All axes are servo-locked and stopped.
The CPU Unit cycle time is 2 ms.
Data Read Times (Command: 17D7 Hex)
Data Write Times (Command: 17D6 Hex)
Power turned ON or Unit restarted
Manual Mode Flag
Unit startup time
Model
CS1W-MC221
CS1W-MC421
Time increase per Unit
0.2 to 0.8 ms
0.25 to 0.85 ms
Instruction
CS1W-MC221
CS1W-MC421
IOWR (per instruction)
0.4 to 0.7 ms
0.4 to 0.7 ms
IORD (per instruction)
0.4 to 0.8 ms
0.4 to 0.8 ms
Number of words read
CS1W-MC221
CS1W-MC421
3 words (1 position)
37 ms
37 ms
30 words (10 positions)
37 ms
45 ms
300 words (100 positions)
60 ms
77 ms
1,500 words (500 positions)
205 ms
245 ms
3,000 words (1,000 positions)
390 ms
470 ms
Number of words read
CS1W-MC221
CS1W-MC421
3 words (1 position)
37 ms
37 ms
30 words (10 positions)
37 ms
45 ms
300 words (100 positions)
60 ms
77 ms
Содержание CS1W-MC221 -
Страница 1: ...Motion Control Units Cat No W359 E1 04 CS1W MC221 V1 421 V1 OPERATION MANUAL ...
Страница 2: ...CS1W MC221 V1 421 V1 Motion Control Units Operation Manual Revised February 2008 ...
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Страница 27: ...xxviii Conformance to EC Directives 6 ...
Страница 133: ...106 Installation Section 2 2 2 2 4 Dimensions CS1W MC421 CS1W MC221 ...
Страница 173: ...146 Connecting Peripheral Devices Section 2 7 ...
Страница 227: ...200 Command Area Section 3 6 ...
Страница 351: ...324 Interface Specifics Section 5 4 ...
Страница 513: ...486 Absolute Encoder Interface Specifications Section 9 7 ...
Страница 575: ...548 Error Log Section 12 6 ...
Страница 589: ...562 Performance Appendix A ...
Страница 655: ...628 Control Bit Flag Timing Charts Appendix E ...
Страница 683: ...656 Origin Search Patterns Appendix F ...
Страница 685: ...658 Encoder Divider Rate and Rotation Speed for OMRON Servo Drivers Appendix G ...