Omron TJ2-MC64 - PROGRAMMING Programming Manual page 360

GRT1-ML2 timing
A.2.1 Example 1
Setup of the SmartSlice I/O system: GRT1-ID4 − GRT1-OD4.
= 0.66 + 4 × 0.009 + 4 × 0.001 = 0.7 ms
T
SL
GRT1-ID4 input response time
(T = T +T + T + T
in ON/OFF SL CUin
0 + 0.7 + 0.1 + 1 + 1 = 2.8 ms ≤ T
GRT1-OD4 output response time
T = T + T + T +T
out SYNC MLout CU
0 + 1+ 0.1 + 0.7 + 0 = 1.8 ms ≤ T
A.2.2 Example 2
Setup of the SmartSlice I/O system: GRT1-OD4 − GRT1-ID4 − GRT1-OD8 −
GRT1-ID8 − GRT1-OD8 − GRT1-ID8 − GRT1-OD8 − GRT1-ID8 − GRT1-
OD8 − GRT1-ID8 − GRT1-OD4 − GRT1-DA2 − GRT1-AD2 − GRT1-DA2 −
GRT1-DA2 − GRT1-DA2 − GRT1-ID4 − GRT1-ID4
/i
Inputs Bits Words
4 × ID4
4
4 × ID8
4
1 × AD2
2
2 × ID4
8
TOTAL 12 6
1. For the contribution of the individual slices to the I/O data size, see sec-
tion 2-2-2 of the GRT1 Series SmartSlice I/O Units Operation Manual
(W455).
PROGRAMMING MANUAL
+ T )
MLin SERVO
≤ 1.5 + 0.7 + 1.1 + 1 + 1 = 5.3 ms
in
+ T
SL ON/OFF
≤ 1 + 1+ 0.8 + 0.7 + 1.5 = 5.0 ms
out
1
Data size
2 Bytes (Filled up to 1 word)
8 Bytes
4 Bytes
1 Byte
15 Bytes
(15 + 2) / 27, rounded up = 1 Page
/i
Outputs Bits Words
1 × OD4
4
4 × OD8
4
1 × OD4
4
4 × DA2
8
TOTAL 8 12
= 0.66 + 6 × 0.022 + 12 × 0.009 + 12 × 0.008 + 8 × 0.001 = 1.004 ms
T
SL
GRT1-ID4 input response time
(T = T + T + T + T
in ON/OFF SL CUin
0 + 1.004 + 0.1 + 1 + 1 = 3.104 ms ≤ T
5.608 ms
GRT1-AD2 input response time
(T = T + T + T + T
in ON/OFF SL CUin
0 + 1.004 + 0.1 + 1 + 1 = 3.104 ms ≤ T
6.108 ms
GRT1-OD4 output response time
(T = T + T + T + T
out SYNC MLout CU
0 + 2.0 + 0.1 + 1.004 + 0 = 3.104 ms ≤ T
= 6.608 ms
GRT1-DA2 output response time
(T = T + T + T + T
out SYNC MLout CU
0 + 2.0 + 0.1 + 1.004 + 2= 5.104 ms ≤ T
7.108 ms
Data size
2 Bytes (Filled up to 1 word)
8 Bytes
2 Bytes (Filled up to 1 word)
16 Byte
28 Bytes
28 / 27, rounded up = 2 Pages
+ T )
MLin SERVO
≤ 1.5 + 1.004 + 1.104 + 1 + 1 =
in
+ T )
MLin SERVO
≤ 2.0 + 1.004 + 1.104 + 1 + 1 =
in
+ T )
SL ON/OFF
≤ 1.0 + 2.0 + 1.104 + 1.004 + 1.5
out
+ T )
SL ON/OFF
≤ 1.0 + 2.0 + 1.104 + 1.004 + 2 =
out
354