Mitsubishi Electric R64MTCPU - Page 334

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APPENDICES APPENDIX
Appendix 1 Processing Times
■Easy stroke ratio cam
■Advanced stroke ratio cam
• Curve type (constant speed)
• Processing time by curve type (cam resolution: 256, number of sections: 1)
CAMPSCL instruction processing time
Cam
resolution
Section Processing time [ms]
Not saved (open area) Standard ROM SD memory card
256 1 0.76 34 74
16 0.88 31 65
32 0.92 32 65
4096 1 8.9 39 74
16 5.9 37 71
32 5.9 39 71
32768 1 69 100 133
16 47 78 112
32 47 80 112
Cam
resolution
Section Processing time [ms]
Not saved (open area) Standard ROM SD memory card
256 1 1.2 42 73
32 0.65 33 68
180 1.1 52 71
360 1.7 77 91
4096 1 8.9 42 77
32 6.1 39 73
180 6.6 58 76
360 7.1 81 102
32768 1 70 104 134
32 47 81 113
180 47 99 114
360 48 121 139
Cam resolution Processing time [ms]
Not saved (open area) Standard ROM SD memory card
Constant speed 1.1 36 61
Constant acceleration 0.91 31 53
Distorted trapezoid 2.5 32 64
Distorted sine 2.5 34 55
Distorted constant speed 3.1 33 60
Cycloid 1.4 30 61
5th curve 1 32 60
Trapecloid 3.3 33 60
Reverse trapecloid 3.5 33 56
Double hypotenuse 1.9 32 60
Reverse double hypotenuse 1.9 32 60
Single hypotenuse 1.5 30 57
Cam resolution Cam position calculation type Processing time [ms]
256 Cam axis current feed value calculation 0.01
Cam axis current value per cycle calculation 0.003
32768 Cam axis current feed value calculation 0.011
Cam axis current value per cycle calculation 0.008