APPENDICES

APPENDIX 5 Processing Times of the Motion CPU

The processing time of each signal and each instruction for positioning control in the Multiple CPU system is shown below.

(1) Motion operation cycle [ms] (Default)

 

 

 

 

 

Q173HCPU

 

 

 

 

 

 

 

Q172HCPU

 

 

 

Number of setting axes (SV22)

 

 

 

1 to 5

6 to 14

 

15 to 28

29 to 32

 

 

 

 

1 to 5

 

6 to 8

 

 

 

 

 

 

Number of setting axes (SV13)

1 to 3

4 to 10

11 to 20

 

21 to 32

 

 

 

1 to 3

 

4 to 8

 

 

 

 

 

 

 

 

 

 

 

 

 

Operation cycle [ms]

0.44

0.88

1.77

 

3.55

7.11

0.44

 

0.88

 

1.77

(2) CPU processing time [ms]

 

 

 

 

Q173HCPU

 

 

Q172HCPU

 

Operation cycle

0.44

0.88

1.77

3.55

7.11

0.44

 

0.88

 

1.77

 

"WAIT ON/OFF"

 

 

 

 

 

 

 

 

 

 

Servo program

+ Motion control

0.8 to 1.0

1.1 to 1.6

2.5 to 3.2

4.3 to 6.0

8.1 to 11.1

0.8 to 1.0

1.1 to 1.6

2.5 to 3.2

start processing

step

 

 

 

 

 

 

 

 

 

 

time (Note-1)

Only Motion

1.0 to 1.6

1.8 to 2.3

3.0 to 3.9

4.8 to 6.6

9.4 to 11.5

1.0 to 1.6

1.8 to 2.3

3.0 to 3.9

 

control step

 

 

 

 

 

 

 

 

 

 

 

Speed change response

0.9 to 1.2

1.2 to 2.0

2.8 to 3.6

4.5 to 5.9

8.5 to 11.0

0.9 to1.2

 

1.2 to 2.0

2.8 to 3.6

Torque limit value change

0.4

0.8

1.7

3.5

3.5

0.4

 

0.8

 

1.7

response

 

or less

or less

or less

or less

or less

or less

 

or less

 

or less

Simultaneous start processing

0.9 to 1.6

1.7 to 2.5

3.5 to 4.2

5.0 to 6.5

8.6 to 12.0

0.9 to 1.6

1.7 to 2.5

3.5 to 4.2

time (Note-2)

 

 

 

 

 

 

 

 

 

 

 

 

Time from PLC ready flag

 

 

 

 

 

 

 

 

 

 

(M2000) ON to PCPU ready flag

 

 

 

39 to 433

 

 

 

 

 

(M9074) ON

 

 

 

 

 

 

 

 

 

 

 

(Note-1): FEED instruction varies greatly depending on the condition (whether other axes are operating or being stopped).

(Note-2): This processing time varies depending on the simultaneous start command. Use this time merely for reference.

(Note-3): If the servo amplifiers of 9 axes or more are connected to one SSCNET system, it does not support an operation cycle of 0.4[ms]. 0.8[ms] is used as the real operation cycle, even if 0.4[ms] is set in the system setting.

APP - 53