Omron Sysmac CS1 Operation Manual page 145

Cycle Time Section 8-3
4. Analog outputs from the CS1W-HCA22 can be output immediately from the
interrupt subroutine by using the SPED and ACC instructions if the Unit Set-
up Area is set to update analog inputs immediately for instruction execution.
The results of processing in the main program will also be output when the
instruction is executed.
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