I/O Signals; I/O Signal Timings - IAI RoboNet Operation Manual

3.8

I/O Signals

3.8.1 I/O Signal Timings

To operate the ROBO Cylinder using the PLC's sequence program, a given control signal is turned ON. The maximum
response time after the signal turns ON until the response (status) signal is returned to the PLC is calculated by the formula
below:
Maximum response time (msec) = Yt + Xt + 2 x Mt + Command processing time (operation time, etc.)
Mt = 10 (msec) x (n + 1) : SIO link (Modbus) cycle time
n: Number of controlled axes
Master station → remote I/O station transmission delay time
Yt:
Remote I/O station → master station transmission delay time
Xt:
For the master station → remote I/O station transmission delay time (Yt) and remote I/O station → master station transmission
delay time (Xt), refer to the operation manuals of the CC-Link master unit and the PLC installed in the master unit.
PLC sequence program
Control signal
Status signal
Control signal
Status signal
Control signal
Status signal
(Note) If a communication error occurred due to a problem along the transmission path, etc., communication will be retried
(by up to three times) and consequently the SIO link cycle time (Mt) may become longer than normal.
Gateway
Controller
Master station → remote I/O station
transmission delay time (Yt)
SIO link cycle time
Command
processing time
Part 1 Specification
Field network transmission delay time
Remote I/O station → master station
transmission delay time (Xt)
SIO link cycle time
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