Omron CJ2 - 02-2010 User Manual page 470

12 CPU Unit Cycle Time
Name
Position Con- CJ1W-NCF71
trol Unit with
MECHA-
TROLINK-II
Communica-
tions
Motion Control CJ1W-MCH71
Unit with
MECHA-
TROLINK-II
Communica-
tions
SYSMAC SPU CJ1W-SPU01-V2
Unit
* The following value must be added when using high-speed interrupts with CJ2H CPU Units with unit version 1.1
or later.
0.1 ms + Number of words transferred × 0.87 µs
12-10
Increase
Model
CJ2H
According to the number 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: 0.8 ms
0.2 + (No. of
motion tasks ×
4 + No. of axes
× 5 + No. of
words allocated
for general I/O)
× 0.001 (ms)
0.2 ms + No. of
sampled words
× 0.8 µs
CJ2M
---
0.2 + (No. of ---
motion tasks
× 6 + No. of
axes × 1 +
No. of words
allocated for
general I/O)
× 0.001 (ms)
0.2 ms + No. ---
of sampled
words ×
1.1 µs
CJ2 CPU Unit Software User's Manual
Remarks