Omron CS1W-NC113 Manual page 327

Performance Characteristics
Target Position Change Processing Time in Direct Operation
The target position can be changed during direct operation by changing the position data in the operating data
area and restarting the direct operation. The time from when the direct operation is restarted until the position
change is reflected in the pulse output is as follows:
Position designation
Direct operation
Pulse output
Pulse Output Timing for More than One Axis
There will be difference in the times required until pulse output starts for different axes when commands to start
operation for more than one axis are made simultaneously from the CPU Unit to the PCU within the same cycle of
the ladder program. These time differences are shown below.
START
X-axis pulse output
Y-axis pulse output
Z-axis pulse output
U-axis pulse output
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Before change
Operation
Position change response
Note The above values are for a PC cycle time of 10 ms.
Time difference in pulse output
Operation
Commands to start direct operation made
to more than one axis simultaneously
Commands to start memory operation
(single-axis operation) made to more than
one axis simultaneously
Command to start memory operation using
linear operation (for 2 axes or more)
Note The figures in the above table are based on the assumption that the maxi-
mum speed setting for all the axes is the same and that the initial pulse
designation for the axes is 1 (maximum speed setting).
After change
Time
NC1j3 NC2j3
2.8 to 4.9 ms 2.1 to 4.1 ms
NC1j3
---
Appendix A
NC4j3
2.2 to 5.9 ms
NC2j3 NC4j3
20 µs max. 20 µs max.