Omron CJ2 CPU UNIT SOFTWARE User Manual page 478

12 CPU Unit Cycle Time
Name
Position Con- CJ1W-NC881
trol Units with using 8 axes and 4
EtherCAT Com- tasks
munications
CJ1W-NC481
using 4 axes and 4
tasks
CJ1W-NC281
using 2 axes and 2
tasks
CJ1W-NCF81
using 16 axes and
4 tasks
CJ1W-NC482
using 4 axes and 4
tasks
CJ1W-NC882
using 8 axes and 4
tasks
Position Con- CJ1W-NCF71(-MA)
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
0.3 ms
0.3 ms
0.2 ms
0.5 ms
0.3 ms
0.7 ms
0.3 ms
0.8 ms
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
0.5 ms ---
0.4 ms
0.3 ms
0.7 ms
0.4 ms Remote inputs: 20 words, Remote outputs: 20
words
1.0 ms Remote inputs: 640 words, Remote outputs: 640
words
0.5 ms Remote inputs: 20 words, Remote outputs: 20
words
1.1 ms Remote inputs: 640 words, Remote outputs: 640
words
---
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 ms
CJ2 CPU Unit Software User's Manual
Remarks