Omron trajexia CJ1W-MCH72 Operation Manual page 30

Cycle time
1-6-1-4 Servo period 4 ms
1-6-1-5 Servo period rules
CPU task 1
CPU task 2
CPU task 3
CPU task 4
The SERVO_PERIOD has a value of 4ms and the motion sequence is
executed every 4.0ms.
The number of axes and MECHATROLINK-II slaves in the Trajexia system
determines the value of the SERVO_PERIOD system parameter.
There are 2 types of MECHATROLINK-II slaves that are supported by the
CJ1W-MCH72 units:
• Servo Drivers
The CJ1W-MCH72 considers Servo Drivers as axes.
• Inverters
The CJ1W-MCH72 does not consider Inverters as axes.
You should comply with the most restrictive rules when you set the
SERVO_PERIOD parameter. An incorrect value of the SERVO_PERIOD
parameter results in an incorrect detection of the MECHATROLINK-II slaves.
The most restrictive rules are given in the tables below. For each unit the table
lists the maximum number of slaves the unit can control at the given
SERVO_PERIOD setting.
/i
SERVO_PERIOD Total number
0.5 ms 8
1.0 ms 16
2.0 ms 16
4.0 ms 32
Motion sequence
Low priority task (0,1,2,3...)
High priority task (13,14)
LED refresh
High priority task (13,14)
Communication
Number of
of axes MECHATROLINK-II
stations
axes
4
8
16
30
Section 1-6
4ms
Total number of
MECHATROLINK-II
stations
inverters
4 4
8 8
8 16
8 30
19