Omron CS1W-MCH71 -, Руководство по эксплуатации

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21
Performance
Section 1-7
1-7 Performance
Processing Cycle of
MC Unit
The MC Unit holds Control Cycle for the entire Unit and Communication Con-
trol Cycle.
The system software calculates each control cycle, and it operates using a
Unit cycle to communications cycle ratio of 1:1 or 2:1.
Calculation methods for each control cycle are as follows:
• The Unit cycle is calculated.
• The Communication Cycle is calculated.
• The ratio between the Unit cycle and communications cycle is adjusted.
Calculation Method for
Unit Cycle The basic formula for calculating the Unit Cycle is shown below:
When P00004 bit 11 (number of parallel branches) is 0:
Unit cycle [
µ
s] = (85
×
Number of axes) + (120
×
Number of motion tasks
×
Number of parallel branches) + (0.3
×
Number of general allocated words) +
200..... (1)
• No. of axes: No. of axes allocated in [P1AA01: Physical axis setting]
(Sum of virtual and actual axes)
• No. of Motion tasks: P00001 [No. of Motion tasks]
• No. of parallel branches: P00002 [No. of parallel branches]
• No. of general allocated words:
No. of Allocated words to be used as general purpose I/O (Sum of inputs
and outputs)
When P00004 bit 11 (number of parallel branches) is 1 (Supported for unit
Ver. 3.0 and later):
Unit cycle [
µ
s] = (85
×
Number of axes) + (120
× Σ
Number of parallel
branches i + (0.3
×
Number of general allocated words) + 200..... (1)
Σ
Number of parallel branches i: Sum of the parallel branches set for individual
task, P00M21
Example: If two tasks are used, and the task 1 P00M21 is 4 and the task 2
P00M21 is 2, then this value will be 2 + 4 = 6.
Item Performance data Description
Unit cycle Tm = 1, 2, 3, 4, 6, or 8 This is the cycle in which motion tasks are exe-
cuted in the MC Unit. The length of this cycle is
determined by the number of axes, the number
of motion tasks, the use of parallel execution,
the number of allocated general-purpose words,
and the communications cycle time.
Tm will be equal to Ts or twice Ts. Refer to
Appendix A Performance for details.
Communications cycle Ts = 1, 2, 3, or 4 This is the communications cycle for MECHA-
TROLINK-II. The length of this cycle is deter-
mined by the number of allocated stations and
the number of communications retries. Refer to
Appendix A Performance for details.
Operation startup time and other per-
formance --- Refer to Appendix A Performance for details.