A Performance - Omron CS1W-MC221 - 02-2008 Operation Manual

MC Unit Processing Flow
The main system software processes in the MC Unit and the time required for them are shown in the following
diagram. (The CS1W-MC221 supports only axes X and Y, and tasks 1 and 2.)
As shown, the processing times depend on the number of tasks, on whether a Teaching Box is connected, on
zone settings, etc. Details on individual processes are given on the following pages.
See
Axis Startup Time.
Appendix A
Performance
Power ON or Unit restarted.
CPU Unit processing and notification completed.
Refresh data between CPU Unit and MC Unit.
Process Teaching Box communications.
Process CX-Motion communications.
Execute task 1.
Execute task 2.
Execute task 3.
Execute task 4.
Create present positions.
Create X-axis zone information.
Create Y-axis zone information.
Create Z-axis zone information.
Create U-axis zone information.
See Unit Startup Time .
See Affects on CPU Unit Cycle Time
and Data Transfer and Saving
Times.
Teaching Box not connected: 0 ms
Teaching Box connected:
No communications: 0 ms; During program execu-
tion: 4 ms max.; Programs stopped: 20 ms max.
Commands from the CPU Unit executed.
Only declared tasks are processed.
Manual Mode: Origin search, jogging, etc.
Auto Mode: G programs executed.
Present position created for each axis.
MC221: Approx. 0.6 ms, MC421: Approx. 0.8 ms
Determines if the axes are in the zones.
Only set axes and zones are processed.
Approx. 80 s per zone.
1 ms max.
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