APP - 23
APPENDICES
APPENDIX 1.2 Processing time of Motion dedicated PLC instruction
Processing time of Motion dedicated PLC instruction
Classifications Symbol Instruction (Condition)
Processing time [
µ
s]
Q03UD(E)CPU
(Note)
Q04UD(E)HCPU
(Note)
/
Q06UD(E)HCPU
(Note)
/
Q10UD(E)HCPU
(Note)
/
Q13UD(E)HCPU
(Note)
/
Q20UD(E)HCPU
(Note)
/
Q26UD(E)HCPU
(Note)
/
Q50UDEHCPU
(Note)
/
Q100UDEHCPU
(Note)
Q03UDVCPU/
Q04UDVCPU/
Q06UDVCPU/
Q13UDVCPU/
Q26UDVCPU
Min. Max. Min. Max. Min. Max.
Multiple CPU high
speed bus Motion
dedicated
instruction
D.SFCS Start request of the specified Motion SFC program 62.0 95.0 60.0 94.0 31.0 66.0
D.SVST Start request of the specified servo program 82.0 122.0 80.0 115.0 42.0 76.0
D.CHGA Current value change request of the specified axis 82.0 122.0 80.0 115.0 42.0 76.0
D.CHGAS
Current value change request of the specified
command generation axis
82.0 122.0 80.0 115.0 42.0 76.0
D.CHGV Speed change request of the specified axis 82.0 122.0 80.0 115.0 42.0 76.0
D.CHGVS
Speed change request of the specified command
generation axis
82.0 122.0 80.0 115.0 42.0 76.0
D.CHGT
Torque control value change request of the
specified axis
82.0 122.0 80.0 115.0 42.0 76.0
D.CHGT2
Torque control value individual change request of
the specified axis
87.0 127.0 85.0 120.0 42.0 76.0
Multiple CPU high
speed bus other
CPU access
instruction
D.DDWR
Write device data of
the self CPU to the
device of other CPU
Number of writing data = 1 82.0 133.0 80.0 130.0 34.0 82.0
Number of writing data = 16 91.0 142.0 89.0 139.0 37.0 84.0
D.DDRD
Read device data of
other CPU to the
device of self CPU
Number of reading data = 1 82.0 133.0 80.0 130.0 34.0 81.0
Number of reading data = 16 82.0 133.0 80.0 130.0 34.0 81.0
D.GINT
Execute request of an event task of Motion SFC
program
50.0 80.0 48.0 78.0 31.0 66.0
(Note): The speed-up of the processing time has been achieved at QnUD(E)(H)CPU-B02 or later (upper five digit of serial No. is "10012" or later).
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