Omron CJ1W-CORT21 Operation Manual page 112

5 Communications Timing
Minimum I/O Response Time
CPU
CORT21
Bus
Input node
Output node
t : Input Node ON (OFF)
IN
t : Output Node ON (OFF) delay
OUT
t : Message Delay time
MD
 Message Delay Time
The message delay time is described in section 5-1-4 CAN Interface.
 Unit Processing Time for Transmitted / Received Messages
The unit processing time for received messages depends on the message rate of all the units con-
nected to the user Defined CAN Unit (the rate of received messages by the unit).
If the message rate is higher than the unit is capable of processing (see 5-1-4 CAN Interface), the
messages will queue, causing a delay in processing. If messages are received when the queue is
full, queue overflow occurs (see section 6, Troubleshooting and Maintenance).
5-6
t t t t
IN MD UPR RF
minimum I/O response time
delay t : Unit Processing time for Received messages
UPR
t : Unit Processing time for Transmitted messages
UPT
t : Program Execution time
PE
t : I/O Refresh time
RF
CJ-series User Defined CAN Unit Operation Manual for NJ-series CPU Unit (W517)
t t t t
PE RF UPT MD
t
OUT