Omron CJ - 09-2009 Operation Manual page 514

Computing the Cycle Time
Name Model
FL-net Unit CJ1W-FLN22
DeviceNet Unit CJ1W-DRM21
Position Control CJ1W-NCF71
Unit with
MECHA-
TROLINK-II
Communica-
tions
Motion Control CJ1W-MCH71
Unit with
MECHA-
TROLINK-II
Communica-
tions
SYSMAC SPU CJ1W-SPU01
Unit
466
Increase
0.3 + No. of data link
words × 0.0011 ms
CJ1: 0.7 ms + 1 µs for
each allocated word
CJ1-H: 0.4 ms + 0.7 µs
for each allocated word
CJ1M: 0.5 ms + 0.7 µs
for each allocated word
According to the num-
ber of Servo Driver
axes connected to the
Unit.
1 axis: 0.2 ms, 3 axes:
0.3 ms, 6 axes: 0.4 ms,
16 axes: 1.0 ms
No. of motion tasks × 6
× 0.001 + No. of axes ×
0.001 + No. of words
allocated for general
I/O × 0.01 + 0.6 ms
0.2 ms + No. of sam-
pled words × 0.8 µs
Note The influence on the cycle time for CJ1-H-R CPU Units for Special I/O Units
and CPU Bus Units is the same as that for the CJ1-H CPU Units.
Remarks
The number of data link words is the number of words of
data sent and received by a node. If the message service
is used, the event execution time must be added sepa-
rately.
Include all words allocated to the slaves, including unused
ones.
For message communications, add the number of commu-
nications words to the calculations as the left.
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Section 10-4