Omron NJ Series

A-21
Appendices
NJ-series CPU Unit Software User’s Manual (W501)
A-2 Calculating Guidelines for the Real Processing Times of Tasks
App
A-2-1 Calculating the Average Real Processing Times of Tasks
The motion control processing time depends on the number of servo axes and virtual servo axes that
are used. For the number of servo and virtual servo axes, read the motion control processing time from
the following graph.
The common processing time is the following values by the total time for system overhead, system
common processing 1, and system common processing 2. The common processing time depends on
the type of task.
*1 The processing time is 265 s for a CPU Unit with unit version 1.01 or earlier.
*2 The processing time is 360 s for a CPU Unit with unit version 1.01 or earlier.
Motion Control Processing Time
Common Processing Time
Type of task
Common processing times [s] (reference values)
NJ501- NJ301-
Primary periodic task
150
*1
240
*2
Periodic task 10 32
N
u
m
be
r of
a
x
es
Processing time (µs)
NJ301-

NJ501-

N
u
m
be
r of
a
x
es
Processing time (µs)
0 0 8 16 24 32 40 48 56 64 1 2 3 4 5 6 7 8
0
100
200
300
400
500
600
0
20
40
60
80
100
120
Unit
version 1.02
or later
Unit version 1.02
or later
Unit version 1.01
or earlier
Unit version 1.01
or earlier