2-7-10 Pulse Output Start Time; 2-7-11 Pulse Output Change Response Time - Omron CP1L CPU UNIT - 06-2007 Operation Manual

Computing the Cycle Time

2-7-10 Pulse Output Start Time

2-7-11 Pulse Output Change Response Time

88
Here,
Number of partici- The number of slaves to which links have been established
pating slave nodes within the maximum unit number set in the master.
Number of non-par- The number of slaves not participating in the links within the
ticipating slave maximum unit number set in the master
nodes
Slave communications time × Number of participating slave
Communications
nodes + 10 × Number of non-participating slave nodes
cycle time (ms)
Slave communica- • Communications time set to Standard
0.4 + 0.286 × ((No. of slaves + 1) × No. of link words × 2 + 12)
tions time (ms)
• Communications time set to Fast
0.4 + 0.0955 × ((No. of slaves + 1) × No. of link words × 2 +
12)
The pulse output start time is the time required from executing a pulse output
instruction until pulses are output externally. This time depends on the pulse
output instruction that is used and operation that is performed.
Instruction execution
Pulse output
Pulse output instruction
SPED: continuous
SPED: independent
ACC: continuous
ACC: independent, trapezoidal
ACC: independent, triangular
PLS2: trapezoidal
PLS2: triangular
The pulse output change response time is the time for any change made by
executing an instruction during pulse output to actually affect the pulse output
operation.
Pulse output instruction
INI: immediate stop
SPED: immediate stop
ACC: deceleration stop
PLS2: deceleration stop
SPED: speed change
ACC: speed change
PLS2: target position change in
reverse direction
PLS2: target position change in
same direction at same speed
PLS2: target position change in
same direction at different speed
Start time
Start time
86 µs
98 µs
103 µs
122 µs
123 µs
145 µs
146 µs
Change response time
63 µs + 1 pulse output time
106 µs + 1 pulse output time
1 control cycle (4 ms) minimum,
2 control cycles (8 ms) maximum
Section 2-7