Example 2; A.2.1 Example 1 - Omron GRT1-ML2 Manual

Timing
TJ1-MC__
TJ1-ML__
MECHATROLINK-II bus
GRT-ML2
SmartSlice bus
Smart Slice I/O Unit
Smart Slice I/O Unit
Smart Slice I/O Unit
The following SmartSlice I/O Units, which are used in the examples, have
the following ON/OFF delays:
/i
SmartSlice I/O Unit T
ON/OFF
0 ms ≤ T
GRT1-ID4
ON/OFF
0 ms ≤ T ≤ 0.5 ms
GRT1-OD4
ON
0 ms ≤ T ≤ 1.5 ms
OFF
0 ms ≤ T
GRT1-AD2
ON/OFF
0 ms ≤ T
GRT1-DA2
ON/OFF
Furthermore, T = 1 ms.
SERVO
GRT1-ML2 MANUAL
Input Output
T
sync
T
servo
T T
MLin MLout
T
MLin/out
T T
CUin CUout
T T
SL SL
T
SL
T T
on/off on/off
≤ 1.5 ms
≤ 2 ms
≤ 2 ms
A.2.1 Example 1
Setup of the SmartSlice I/O system: GRT1-ID4 − GRT1-OD4.
= 0.66 + 4 × 0.009 + 4 × 0.001 = 0.7 ms
T
SL
GRT1-ID4 input response time
(T = T +T + T + T
in ON/OFF SL CUin
0 + 0.7 + 0.1 + 1 + 1 = 2.8 ms ≤ T
GRT1-OD4 output response time
T = T + T + T +T
out SYNC MLout CU
0 + 1+ 0.1 + 0.7 + 0 = 1.8 ms ≤ T
A.2.2

Example 2

Setup of the SmartSlice I/O system: GRT1-OD4 − GRT1-ID4 − GRT1-OD8 −
GRT1-ID8 − GRT1-OD8 − GRT1-ID8 − GRT1-OD8 − GRT1-ID8 − GRT1-
OD8 − GRT1-ID8 − GRT1-OD4 − GRT1-DA2 − GRT1-AD2 − GRT1-DA2 −
GRT1-DA2 − GRT1-DA2 − GRT1-ID4 − GRT1-ID4
/i
Inputs Bits Words
4 × ID4
4
4 × ID8
4
1 × AD2
2
2 × ID4
8
TOTAL 12 6
1. For the contribution of the individual slices to the I/O data size, see sec-
tion 2-2-2 of the GRT1 Series SmartSlice I/O Units Operation Manual
(W455)
.
+ T )
MLin SERVO
≤ 1.5 + 0.7 + 1.1 + 1 + 1 = 5.3 ms
in
+ T
SL ON/OFF
≤ 1 + 1+ 0.8 + 0.7 + 1.5 = 5.0 ms
out
1
Data size
2 Bytes (Filled up to 1 word)
8 Bytes
4 Bytes
1 Byte
15 Bytes
(15 + 2) / 27, rounded up = 1 Page
21