Omron SYSMAC CS1G Operation Manual page 42

Performance
Item
Time lag per axis (Interpolation)
Time lag per axis (Independent opera-
tion)
Minimum operation time
Minimum traverse reversal time
External input Unit Built-in general
response time input
Unit Built-in deceler-
ation stop input
CW/CCW limit origin
proximity input
Synchroniza- MECHATROLINK
tion delay slaves
Counter latch W + NS115
startup time
Processing Cycle of MC
Unit
Calculation Method for
Unit Cycle
Performance data
0
0
Tm
Tm
Tm or less
2Ts+Tm+0.625ms~2Ts+Tm+
Ts+0.625ms+Tm
4Ts+Tm+0.625ms~4Ts+Tm+
Ts+0.625ms+Tm
4Ts+Tm+0.625ms~4Ts+Tm+
Ts+0.625ms+Tm
[(20ms/Tm) ×5+5] ×Tm+
Ts×3+4ms~[(20ms/Tm) ×8+5]
×Tm+Ts×3+4ms
Unit Ver. 2.0 or Later
When the starting and target
positions are not specified:
Tm × 3 + Ts × 3 + 4 ms
The MC Unit holds Control Cycle for the entire Unit and Communication Con-
trol Cycle.
The system software calculates each control cycle, and it operates when "Unit
cycle: Communications cycle" is "1:1" or "2:1".
Calculation methods for each control cycle are as follows:
• Calculates the Unit Cycle
• Calculates the Communication Cycle
• Adjusts and matches the Unit Cycle and Communications Cycle.
Basic formula for calculating Unit Cycle is shown below:
Unit Cycle [ µ s] = (115.0 × No. of axes)+(165.0 × No. of motion tasks × No.
of parallel branches) + (0.3 × No. of general allocated words) + 350.0 --- (1)
• No. of axes: No. of axes allocated in [P1AA01:Physical axis setting] (Sum
of virtual and actual axes)
• No. of Motion tasks: P00001 [No. of Motion tasks]
• No. of parallel branches: P00002 [No. of parallel branches]
• No. of general allocated words:
No. of Allocated words to be used as general purpose I/O (Sum of inputs
and outputs)
Note for P00003 [Unit Scan time]
When P00003 [Unit Scan time] is greater than the result of the formula (1), the
formula (2) below is to be used.
Unit Cycle [ µ s] = P00003 × 1000 ---(2)
Description
Time delay caused when interpolation is per-
formed with one motion task. No delay between
axes.
Time delay caused when every motion task with
one axis is started simultaneously. No delay
between axes.
Minimum operation time required to stay in Pass
Mode.
The same as the Unit Cycle.
Minimum time required for reversal operation of
traverse command. The same as the Unit cycle.
Time from accepting the Unit built-in general
input until it is reflected to input variables. It is
the same or less than Unit cycle.
Time from receiving deceleration stop input until
the operation command is output to the control
loop of the servo driver
Time from when the servo driver recognizes the
input until the operation command is output to
the control loop of the servo driver.
Time from when the slave recognizes the input
until the operation command is output to the
control loop of the servo driver.
Time taken by the MC unit to become able to
execute the counter latch after issuing a LATCH
command. Refer toCalculation Method for the
Counter Latch Startup Time on page 20.
Section 1-7
19