Omron CS1W-MCH71 -, Руководство по эксплуатации

Страница: 709 / 717

664
Performance
Appendix A
Processing Cycle of MC Unit
The MC Unit has both a control cycle for the entire Unit and a communications control cycle. The system soft-
ware in the MC Unit calculates each control cycle, and it operates using a Unit cycle: communications cycle
ration of 1:1 or 2:1.
The calculation method for each control cycle is described below.
• The Unit cycle is calculated.
• The Communication Cycle is calculated.
Slave input response time (MECHA-
TROLINK slaves) Min.: 4Ts + 2Tm + Td
Max.: 4Ts + 3Tm + Td
Time from when a signal is input to the slave I/O
Unit and the I/O Unit reads the input until current
is output to the Servo Motor.
Feedback position synchronization
delay (MECHATROLINK slaves) 4Ts + 2Tm + Td Time until current is output to the Servo Motor of
the slave axis when synchronizing the MECHA-
TROLINK slave feedback position.
Counter latch startup time when start
position and end position are specified • When Tm = 1 or 2
Min.: 3Ts + 5Tm + 104
Max.: 3Ts + 5Tm + 124
• When Tm = 3 to 8
Min.: 3Ts + 5Tm + 144
Max.: 3Ts + 5Tm + 164
Time until a counter latch can be executed after
starting execution of a LATCH command. Refer
to
Calculation Method for the Counter Latch
Startup Time on page 666.
Counter latch startup time when start
position and end position are not speci-
fied 3Tm + 3Ts + 4 Time until a counter latch can be executed after
starting execution of a LATCH command. Refer
to
Calculation Method for the Counter Latch
Startup Time on page 666.
PARAM command execution time for
Servo Driver parameters • When Tm = 1 or 2
Min.: 2Tm + 60
Max.: 2Tm + 80
• When Tm = 3 to 8
Min.: 2Tm + 80
Max.: 2Tm + 100
Decimal fractions in division
results are rounded up.
Time required to complete PARAM command
execution when using the PARAM command to
change Servo Driver parameters.
PARAM command execution time for
other parameters Min.: 2Tm + 20
Max.: 2Tm + 40
Decimal fractions in division
results are rounded up.
Time required to complete PARAM command
execution when using the PARAM command to
change parameters other than Servo Driver
parameters.
IORD/IOWR instruction execution time
for Servo Driver parameters • When Tm = 1 or 2
Min.: 2Tm + Tc + 60.7
Max.: 4Tm + 3Tc + 80
• When Tm = 3 to 8
Min.: 2Tm + + Tc + 80.7
Max.: 4Tm + 3Tc + 100
Decimal fractions in division
results are rounded up.
Time required to complete PARAM command
execution when using the IORD/IOWR instruc-
tion to transfer Servo Driver parameters.
IORD/IOWR instruction execution time
for other parameters Min.: 2Tm + Tc + 20.7
Max.: 4Tm + 3Tc + 40
Decimal fractions in division
results are rounded up.
Time required to complete PARAM command
execution when using the IORD/IOWR instruc-
tion to transfer parameters other than Servo
Driver parameters.
SPEED instruction execution time • When Tm = 1 or 2
Min.: 3Tm + 60
Max.: 3Tm + 80
• When Tm = 3 to 8
Min.: 3Tm + 80
Max.: 3Tm + 100
Decimal fractions in division
results are rounded up.
Time required to output a speed command in the
direction of the specified speed command when
changing the speed by executing the SPEED
instruction (including execution while the
SPEED instruction is already being executed).
Item Performance (ms) Description