Examples; A.2 Examples - Omron TJ2-MC64 - PROGRAMMING Programming Manual

GRT1-ML2 timing
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.
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
PROGRAMMING MANUAL
is the OFF delay, T is both the ON
OFF ON/OFF
ML
Variable Definition
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 TJ2-MC64 for processing.
T = T
in ON/OFF
0.1 ms ≤ T
•
• T
MLin
• Pages
T The output response time: the time between these events:
out
• The TJ2-MC64 sets an output signal.
• This signal is available to the SmartSlice Output Unit.
T = T
out
±0 ≤ T
•
• T
MLout
• Pages
0.1 ms ≤ T
•
1. Because the GRT1-ML2 produces 2 bytes of input data (the GRT1-ML2
status word), 2 is added to PDsize
equals
+ T + T + T + T
SL CUin MLin SERVO
≤ 0.1 + MAX(T
, T ) ms
CUin SL MLin
× T
= Pages
in SERVO
1
= (PDsize + 2) / 27 , rounded up to the nearest integer
in in
+ T + T + T + T
SYNC MLout CUout SL ON/OFF
≤ T
SYNC SERVO
× T
= Pages
out SERVO
= PDsize / 27, rounded up to the nearest integer
out out
≤ 0.1 + T
ms
CUout SL
.
in
, where:
, where:
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