Omron CS1W-MCH71 Operation Manual page 709

Performance
Item
Slave input response time (MECHA-
TROLINK slaves)
Feedback position synchronization
delay (MECHATROLINK slaves)
Counter latch startup time when start
position and end position are specified
Counter latch startup time when start
position and end position are not speci-
fied
PARAM command execution time for
Servo Driver parameters
PARAM command execution time for
other parameters
IORD/IOWR instruction execution time
for Servo Driver parameters
IORD/IOWR instruction execution time
for other parameters
SPEED instruction execution time
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.
664
Performance (ms)
Min.: 4Ts + 2Tm + Td
Max.: 4Ts + 3Tm + Td
4Ts + 2Tm + Td
• 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
3Tm + 3Ts + 4
• 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.
Min.: 2Tm + 20
Max.: 2Tm + 40
Decimal fractions in division
results are rounded up.
• 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.
Min.: 2Tm + Tc + 20.7
Max.: 4Tm + 3Tc + 40
Decimal fractions in division
results are rounded up.
• 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.
Description
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.
Time until current is output to the Servo Motor of
the slave axis when synchronizing the MECHA-
TROLINK slave feedback position.
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.
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.
Time required to complete PARAM command
execution when using the PARAM command to
change Servo Driver parameters.
Time required to complete PARAM command
execution when using the PARAM command to
change parameters other than Servo Driver
parameters.
Time required to complete PARAM command
execution when using the IORD/IOWR instruc-
tion to transfer Servo Driver parameters.
Time required to complete PARAM command
execution when using the IORD/IOWR instruc-
tion to transfer parameters other than Servo
Driver parameters.
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).
Appendix A