Instruction manual

APP - 50
A
PPENDICES
APPENDIX 4 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)
Q173DCPU Q172DCPU
Number of setting axes (SV22) 1 to 4 5 to 12 13 to 28 29 to 32 1 to 4 5 to 8
Operation cycle [ms] 0.44 0.88 1.77 3.55 0.44 0.88
(2) CPU processing time [ms]
The instruction processing time means the time until the content is reflected to
servo amplifier side after each instruction is executed.
(Including the transmission time between Motion controller and servo amplifier.)
Q173DCPU/ Q172DCPU
Operation cycle [ms] 0.44 0.88 1.77 3.55 7.11 14.2
"WAIT ON/OFF"
+ Motion control step
0.88 1.77 2.66 4.44 7.99 15.11
Only Motion control step
1.0 to 1.4 1.9 to 2.8 2.8 to 4.6 4.6 to 8.2 8.1 to 15.2 15.2 to 29.4
Servo program start
processing time
(Note-1)
Dedicated instruction
(D(P).SVST) from the
PLC CPU
2.2 to 3.1 3.5 to 4.4 5.3 to 6.2 8.8 to 9.7 16.0 to 16.9 30.2 to 31.1
Instruction (CHGV) from
the Motion SFC
0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 8.0 to 15.1 15.1 to 29.3
Speed change
response time
Dedicated instruction
(D(P).CHGV) from the
PLC CPU
1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 8.9 to 9.8 16.0 to 16.9
Instruction (CHGT) from
the Motion SFC
0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 4.4 to 11.5 4.4 to 18.6
Torque limit value
change response time
Dedicated instruction
(D(P).CHGT) from the
PLC CPU
1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 5.3 to 9.7 5.3 to 16.0
Time from PLC ready flag (M2000) ON to
PCPU ready flag (SM500) ON
22 to 28
(Note-1): FEED instruction varies greatly depending on the condition (whether other axes are operating or being stopped).
(3) Virtual servomotor axis/synchronous encoder axis operation cycle
[ms] (Default)
Q173DCPU Q172DCPU
Number of setting axes (SV22) 1 to 4 5 to 12 13 to 28 29 to 32 1 to 4 5 to 8
Virtual servomotor [ms] 0.44 0.88 1.77 3.55 0.44 0.88
Synchronous encoder [ms] 0.44 0.88 1.77 3.55 0.44 0.88