Omron NJ Series User Manual

Appendices
A-24
NJ-series CPU Unit Software User’s Manual (W501)
The following values of the I/O refresh overhead time, EtherCAT slave processing time, and CJ-
series Unit processing time are found by the above calculations.
 User Program Execution Time
The graphs show the following values.
• Standard instruction configuration
From the graph of the execution time for standard ladder diagram instructions, the user program
execution time of 5,000 instructions for the NJ501- is 100 s.
• Arithmetic instructions for LREAL data
From the graph of the execution time for ladder diagram arithmetic and trigonometric instructions
for LREAL data, the user program execution time of 200 instructions for the NJ501- is
20 s.
• Trigonometric instructions for LREAL data
From the graph of the execution time for ladder diagram arithmetic and trigonometric instructions
for LREAL data, the user program execution time of 100 instructions for the NJ501- is
27 s.
 Motion Control Processing Time
From the graph of the execution time for motion control processing, the execution time of the motion
control processing for four axes for the NJ501- with a unit version 1.02 is read as 46 s.
 Common Processing Time
Because the task is the primary periodic task, the common processing time for the NJ501-
is 150 s.
Item Value [s]
I/O refresh overhead time 60
EtherCAT slave processing time 0
CJ-series Unit processing time 0
From these values, the I/O refresh time is calculated by the following formula.
I/O refresh time = I/O refresh overhead time + (Larger of the EtherCAT slave processing
time and the CJ-series Unit processing time)
= 60 + 0
= 60 [s]
Therefore, the user program execution time is the total of the above values, which is given by the fol-
lowing formula.
User program execution time = 100 + 20 + 27
= 147 [s]
Therefore, the average real processing time of the task is given by the following formula.
Average real processing time of task = I/O refresh processing time + User program execu-
tion time + Motion control processing time + Com-
mon processing time
= 60 + 147 + 46 + 150
= 403 [s]

Omron NJ Series Specifications

General

Program Capacity	Up to 128 MB
SD Card Slot	Yes
Power Supply Voltage	24 VDC
Motion Control	Yes
USB Ports	1
Operating Temperature	0°C to 55°C
Communication Interfaces	Ethernet/IP, EtherCAT, USB
Safety Function	Optional
Storage Temperature	-20°C to 75°C
Communication Ports	USB
Dimensions	Varies by model
Weight	Varies by model