Omron TJ2-MC64 - PROGRAMMING - Examples; A.2 Examples

GRT1-ML2 timing
PROGRAMMING MANUAL 352
Revision 1.0
A.2 Examples
The following time variable and other variable definitions are used:
/i
Variable Definition
T
ON
T
OFF
T
ON/OFF
The ON or OFF delay of the SmartSlice I/O Unit.
See the GRT1 Series SmartSlice I/O Units Operation Manual (W455) for more
information on input delay times of input units and output delay times of output
units.
Note: T
ON
is the ON delay, T
OFF
is the OFF delay, T
ON/OFF
is both the ON
delay and the OFF delay.
T
SERVO
The Trajexia servo period Typically 1ms
See the BASIC command SERVO_PERIOD in the Trajexia Programming
Manual (I52E).
T
SL
The refresh cycle of the SmartSlice I/O Units, which is the communication
time of the SmartSlice bus.
T
SL
= 0.66
+ number of input words of SmartSlice Input Units that use words × 0.022
+ number of input bits of SmartSlice Input Units that use bits × 0.009
+ number of output words of SmartSlice Output Units that use words × 0.008
+ number of output bits of SmartSlice Output Units that use bits × 0.001 ms
T
CU
The data processing and synchronisation time of the SmartSlice I/O Units.
PDsize The Process Data size in bytes, which is the number of bytes needed to trans-
fer all input or output data.
Pages The number of pages used to transfer all data. The minimum is 1.
T
ML
The total MECHATROLINK-II communication time for all data. T
ML
equals
Pages × T
SERVO
.
T
SYNC
The servo interval synchronisation time of the Trajexia program.
T
in
The input response time: the time between these 2 events:
• The SmartSlice Input Unit receives an input signal.
• This signal is available to the TJ2-MC64 for processing.
T
in
= T
ON/OFF
+ T
SL
+ T
CUin
+ T
MLin
+ T
SERVO
, where:
• 0.1 ms ≤ T
CUin
≤ 0.1 + MAX(T
SL
, T
MLin
) ms
•T
MLin
= Pages
in
× T
SERVO
•Pages
in
= (PDsize
in
+ 2) / 27
1
, rounded up to the nearest integer
T
out
The output response time: the time between these events:
• The TJ2-MC64 sets an output signal.
• This signal is available to the SmartSlice Output Unit.
T
out
= T
SYNC
+ T
MLout
+ T
CUout
+ T
SL
+ T
ON/OFF
, where:
•±0 ≤ T
SYNC
≤ T
SERVO
•T
MLout
= Pages
out
× T
SERVO
•Pages
out
= PDsize
out
/ 27, rounded up to the nearest integer
• 0.1 ms ≤ T
CUout
≤ 0.1 + T
SL
ms
1. Because the GRT1-ML2 produces 2 bytes of input data (the GRT1-ML2
status word), 2 is added to PDsize
in
.
Variable Definition