Pulse Output Change Response Time - Omron CP1H CPU Operation Manual

Computing the Cycle Time

2-7-11 Pulse Output Change Response Time

102
Pulse output instruction
SPED: continuous
SPED: independent
ACC: continuous
ACC: independent, trapezoidal
ACC: independent, triangular
PLS2: trapezoidal
PLS2: triangular
The pulse output change response time is the time for any change made by
executing an instruction during pulse output to actually affect the pulse output
operation.
Pulse output instruction
INI: immediate stop
SPED: immediate stop
ACC: deceleration stop
PLS2: deceleration stop
SPED: speed change
ACC: speed change
PLS2: target position change in
reverse direction
PLS2: target position change in
same direction at same speed
PLS2: target position change in
same direction at different speed
Start time
53 µs
55 µs
65 µs
69 µs
70 µs
74 µs
76 µs
Change response time
57 µs + 1 pulse output time
54 µs + 1 pulse output time
1 control cycle (4 ms) minimum,
2 control cycles (8 ms) maximum
Section 2-7