3. Operation
Fieldbus Communication
128
RCP6
3.5 Input and Output Signal Process for Fieldbus
I/O Signal Timings
The time of each process until the response (status) is returned to the PLC after any of the
control signals is turned on to perform the operation of ROBO Cylinder using the PLC’s
sequence program is as shown below.
The process time between the gateway unit and the built-in controller of RCP6S is constant
regardless of the number of constructing axes, but it varies depending on whether hub units are
used or not.
A (Control signla sending) B (Status signla receiving)
Hub unit not used 8 ms to 10 ms 8 ms to 10 ms
Hub unit used 20 ms to 40 ms 20 ms to 40 ms
* Except for when monitoring is conducted with PC software connected.
Master → Remote I/O Station
Transmission Delay Time (Yt) *1
Command
Processing
Time *2
PLC Sequence Program
Control Signal
Status Signal
Gateway
Control Signal
Status Signal
Controller
Control Signal
Status Signal
*1 Refer to PLC Manual
AB
*2 Varies depending on the content of control
Remote I/O Station → Master
Transmission Delay Time (Xt) *1
Yt : Master Station → Slave Transmission Delay Time
Xt : Slave → Master Station Transmission Delay Time
Refer to the instruction manual of the mounted PLC for the master station → slave transfer
delay time (Yt) and the slave → master station transfer delay time (Xt).
Fieldbus Transmission Delay Time
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