A Performance - Omron CS1W-MCH71 Operation Manual

Item
Power ON startup time
PLC scan time
Unit cycle
Communications cycle
Cycle time extension time
Servo command response time
Operation startup time for automatic
operation
Operation startup time for manual
operation
Offset per axis (interpolation, indepen-
dent operation)
Status refresh offset per axis
Minimum operation time
Minimum traverse reversal time
External input response time (Unit
Built-in general input)
External input response time (Unit
Built-in deceleration stop input)
External input response time (CW/
CCW limit origin proximity input)
Appendix A
Performance
Performance (ms)
Approximately (13 + 0.1 × No.
of physical axes) × 1000
Tc
Tm = 1, 2, 3, 4, 6, or 8
Ts = 1, 2, 3, or 4
No. of motion tasks × 6 ×
0.001 + No. of axes × 8 ×
0.001 + No. of allocated gen-
eral I/O words × 0.001 + 0.6
• W Series + NS115
Td = 0.625
• W Series with built-in
MECHATROLINK-II
Td = 0.425
Min.: Tc + Tm + 2Ts + Td
Max.: 2Tc + 3Tm + 2Ts + Td
Min.: 0.7 + Tm + 2Ts + Td
Max.: Tc + 3Tm + 2Ts + Td
0
0
Tm
Tm
Tm or less
Min.: 2Ts + Tm + Td
Max.: 2Ts + 2Tm + Td
Min.: 4Ts + 2Tm + Td
Max.: 4Ts + 3Tm + Td
Description
Time from turning ON the power until the MC
Unit becomes ready to accept manual operation
commands, such as Servo Lock commands. Vir-
tual axes are not included in the physical axes.
Cycle time of the PLC
This is the time required to execute a motion
task when there is only one motion task. Refer to
Calculation Method for Unit Cycle on page 665.
Communications cycle of MECHATROLINK-II.
Refer to Calculation Method for Communications
Cycle on page 665.
The cycle time is extended by this amount of
time for each MC Unit mounted to the same
PLC.
Time required before outputting current to the
motor after the Servo Driver receives a com-
mand via MECHATROLINK-II.
Time from enabling the start signal allocated to
an Input Unit of the PLC until outputting current
to the Servo Driver when there is only one
motion task and all axes are being operated.
Time from turning ON the start bit (JOG bit) from
a ladder program in the PLC until outputting cur-
rent to the Servo Driver.
• Time offset caused when interpolation is per-
formed with one motion task. There is no offset
between axes.
• Time offset caused when motion tasks with
one axis each are started simultaneously.
There is no offset between axes.
Offset between refresh cycles between axes in
refreshing the status of the controlled axes
(present position, speed, input signals, etc.).
The status of all axes is always refreshed at the
same time, so there is no offset.
Minimum operation time required to stay in Pass
Mode.
The same as the Unit Cycle.
Minimum time required for reversal operation of
traverse command. The same as the Unit cycle.
Time from accepting the Unit built-in general
input until it is reflected to input variables. It is
less than Unit cycle.
Time from receiving deceleration stop input until
current is output to the Servo Motor.
Time from when the Servo Driver detects the
input until current is output to the Servo Motor.
663