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9 . Cther Specifications
9-1. Timing
● An expression "Command writing" with a WW signal to be explained later indicates that the C-V870
responded to the writing of the last byte of a command.
● Each drive time
The following explanation is common to each axis.
The first characters X, Y, Z, and A of each name
are omitted.
MCC06 serially executes the processing of the X/Y and Z/A axes with priority orders assigned.
Priority order:
In-drive processing > drive stop processing > drive start processing > set
parameter processing
・ When both axes are in set parameter processing, processing is executed in the order that it is
generated.
・ If drive start processing is generated for the other axis while own axis is in set parameter
processing, the drive start processing of that axis is given priority.
1
T2 of drive start processing is affected by the processing time of the other axis.
*
・ When the other axis is at DWIVE=1, the in-drive processing (per speed change cycle) of the other a
xis is given priority.
The in-drive processing time of the other axis is 80
s (160
s) at a constant speed and
μ
μ
160
s at maximum speed.
μ
・ If t3 processing is generated for the other axis, the t3 processing of the other axis is given
priority.
2
T3 of drive stop processing is affected by the processing time of the other axis.
*
・ When the other axis is at DWIVE=1, the in-drive processing (per speed change cycle) of the
other axis is given priority.
The in-drive processing time of the other axis is 80
s (160
s) at a constant speed and
μ
μ
160
s at maximum speed.
μ
3
T5 and T6 of servo response are affected by the processing time of the other axis.
*
・ When the other axis is at DWIVE=1, the in-drive processing (per speed change cycle) of the
other axis is given priority.
The in-drive processing time of the other axis is 80
s (160
s) at a constant speed and
μ
μ
160
s at maximum speed.
μ
・ If t2 processing is generated for the other axis, the t2 processing of the other axis is given
priority.
・ If t3 processing is generated for the other axis, the t3 processing of the other axis is given
priority.
(1) Weset
WESET
t1< 5ms
(
10μ s)
Wote
CWP
t2≧ 5ms
(
1.0ms)
Wote
t3< 5ms
(
50μ s)
Wote
CCWP
(Wote)
For system reset on PCI BCS
BCSY in
side
STATCS1
t1
t2
t3