Examples; Example 1; A.2 Examples - Omron GRT1-ML2 Manual

Timing
To display the number of pages used, execute the command
MECHATROLINK(unit,38,station,vr). This command reads the paging data
and stores it in the VR array: first the number of input pages, and then the
number of output pages. If vr equals -1, the paging data is printed to the
Command Line Terminal interface.
A system with at most 6 slices typically produces less
than 27 bytes of I/O data, in which case the number of
pages is 1.
A.2

Examples

The following time variable and other variable definitions are used:
/i
Variable Definition
T The ON or OFF delay of the SmartSlice I/O Unit.
ON
T See the GRT1 Series SmartSlice I/O Units Operation Manual (W455) for more
OFF
T information on input delay times of input units and output delay times of output
ON/OFF
units.
Note: T is the ON delay, T
ON
delay and the OFF delay.
T The Trajexia servo period Typically 1ms
SERVO
See the BASIC command SERVO_PERIOD in the Trajexia Programming
Manual (I52E).
T The refresh cycle of the SmartSlice I/O Units, which is the communication
SL
time of the SmartSlice bus.
T = 0.66
SL
+ number of input words of SmartSlice Input Units that use words × 0.022
+ number of input bits of SmartSlice Input Units that use bits × 0.009
+ number of output words of SmartSlice Output Units that use words × 0.008
+ number of output bits of SmartSlice Output Units that use bits × 0.001 ms
T The data processing and synchronisation time of the SmartSlice I/O Units.
CU
PDsize The Process Data size in bytes, which is the number of bytes needed to trans-
fer all input or output data.
Pages The number of pages used to transfer all data. The minimum is 1.
GRT1-ML2 MANUAL
is the OFF delay, T is both the ON
OFF ON/OFF
Variable Definition
T The total MECHATROLINK-II communication time for all data. T
ML
Pages × T
.
SERVO
T The servo interval synchronisation time of the Trajexia program.
SYNC
T The input response time: the time between these 2 events:
in
• The SmartSlice Input Unit receives an input signal.
• This signal is available to the TJ1-MC__ for processing.
T = T + T + T
in ON/OFF SL CUin
0.1 ms ≤ T ≤ 0.1 + MAX(T
•
CUin
× T
• T = Pages
MLin in SERVO
• Pages = (PDsize
in in
T The output response time: the time between these events:
out
• The TJ1-MC__ sets an output signal.
• This signal is available to the SmartSlice Output Unit.
T = T + T + T
out SYNC MLout
±0 ≤ T ≤ T
•
SYNC SERVO
× T
• T = Pages
MLout out
• Pages = PDsize
out out
0.1 ms ≤ T ≤ 0.1 + T
•
CUout
1. 2 is added to PDsize because the GRT1-ML2 produces 2 bytes of input
in
data (the GRT1-ML2 status word).
+ T + T , where:
MLin SERVO
, T ) ms
SL MLin
1
+ 2) / 27 , rounded up to the nearest integer
+ T + T , where:
CUout SL ON/OFF
SERVO
/ 27, rounded up to the nearest integer
ms
SL
equals
ML
20