Omron C200HW-PRM21 Operation Manuals page 44

Performance
Maximum I/O response time
28
The figure below shows the maximum I/O response time in synchronous
mode. The figure shows the timing at the PLC, the timing at the Master Unit,
the timing at the slave input and the timing at the slave output.
t : The Input Slave's ON (OFF) delay
IN
t : The Output Slave's ON (OFF) delay
OUT
t : The Poll cycle time of the respective master
PC
t : The I/O refresh time
RF
t : The Program Execution time
PE
The maximum response time can occur under the following conditions.
1. The slave in question is polled by the respective master at the beginning of
the poll cycle.
2. The poll cycle time of the respective master is less than the program
execution time of the PLC program.
3. The Input data is available just after the master polled the respective
slave.
The I/O response time in the case above is:
t = t + 3 x t
RESPONSE IN
Note: With t is meant the time that the master of the respective slave
PC
needs to poll all slaves that have been assigned to this master.
+ 3 x t + t
PE RF OUT
Section 3-2