Instruction manual

APPENDICES
APP − 5
APPENDIX 2 Processing Time List
Shown below are each processing time signal and command when position control
is carried out in relation to the servo system CPU.
(1) Motion operation cycle (ms)
CPU A273UHCPU A173UHCPU(-S1)
Number of set axes 1 to 8 9 to 18 19 to 32 1 to 12 13 to 24 25 to 32
Operation cycle 3.5ms 7.1ms 14.2ms 3.5ms 7.1ms 14.2ms
(2) SCPU instruction processing times (
µ
s)
Number of set axes 1 to 32
1 axis started 35
2 to 3 axes
started
70
SVST
Error 150
CHGV 20
CHGA 25
CHGT 20
END 5000
(3) CPU processing time (ms)
CPU A273UHCPU A173UHCPU(-S1)
Number of set axes 1 to 8 9 to 18 19 to 32 1 to 12 13 to 24 25 to 32
Servo program start processing time
(Note-1)
4 to 11 10 to 8 14 to 21 4 to 11 10 to 18 14 to 21
Speed change response 0 to 4 0 to 8 0 to 14 0 to 4 0 to 8 0 to 14
Torque limit value change response 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4
Simultaneous start processing time
(Note-2)
7 to 17 10 to 24 14 to 28 7 to 17 10 to 24 14 to 28
Time from PLC ready flag (M2000)
ON to PCPU ready completed flag
(M9074) ON
8 to 100 90 to 400 100 to 800 8 to 100 90 to 400 100 to 800
(Note-1) The 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 commands to be started simultaneously.
Use this time merely for reference.
(4) Virtual servo motor axis / synchronous encoder axis calculation cycle
CPU A273UHCPU A173UHCPU(-S1)
Number of output axes set 1 to 8 9 to 18 19 to 32 1 to 12 13 to 24 25 to 32
Number of axes used by virtual servo
motor
3.5ms 7.1ms 14.2ms 3.5ms 7.1ms 14.2ms
Number of axes used by synchronous
encoder
3.5ms 7.1ms 14.2ms 3.5ms 7.1ms 14.2ms