Mitsubishi Electric R16MTCPU Programming Manual page 334

■Easy stroke ratio cam
Cam Section
resolution
256 1
16
32
4096 1
16
32
32768 1
16
32
■Advanced stroke ratio cam
• Curve type (constant speed)
Cam Section
resolution
256 1
32
180
360
4096 1
32
180
360
32768 1
32
180
360
• Processing time by curve type (cam resolution: 256, number of sections: 1)
Cam resolution
Constant speed
Constant acceleration
Distorted trapezoid
Distorted sine
Distorted constant speed
Cycloid
5th curve
Trapecloid
Reverse trapecloid
Double hypotenuse
Reverse double hypotenuse
Single hypotenuse
CAMPSCL instruction processing time
Cam resolution
256
32768
APPENDICES APPENDIX
332
Appendix 1 Processing Times
Processing time [ms]
Not saved (open area)
0.76
0.88
0.92
8.9
5.9
5.9
69
47
47
Processing time [ms]
Not saved (open area)
1.2
0.65
1.1
1.7
8.9
6.1
6.6
7.1
70
47
47
48
Processing time [ms]
Not saved (open area)
1.1
0.91
2.5
2.5
3.1
1.4
1
3.3
3.5
1.9
1.9
1.5
Cam position calculation type
Cam axis current feed value calculation
Cam axis current value per cycle calculation
Cam axis current feed value calculation
Cam axis current value per cycle calculation
Standard ROM
34
31
32
39
37
39
100
78
80
Standard ROM
42
33
52
77
42
39
58
81
104
81
99
121
Standard ROM
36
31
32
34
33
30
32
33
33
32
32
30
Processing time [ms]
0.01
0.003
0.011
0.008
SD memory card
74
65
65
74
71
71
133
112
112
SD memory card
73
68
71
91
77
73
76
102
134
113
114
139
SD memory card
61
53
64
55
60
61
60
60
56
60
60
57