APPENDICES
APP − 59
APPENDIX 6 PROCESSING TIMES
The following tables list the processing time of each instruction for positioning
control in the servo system CPU.
(1) Motion operation cycle (ms)
CPU A273UHCPU A173UHCPU(-S1)
Number of set axes (SV22) 1 to 8 9 to 18 19 to 32 1 to 12 13 to 24 25 to 32
Number of set axis (SV13) 1 to 12 13 to 24 25 to 32 1 to 20 21 to 32 


Operation cycle 3.5ms 7.1ms 14.2ms 3.5ms 7.1ms 14.2ms
(2) SCPU instruction processing time (
µ
s)
Number of set axes 1 to 32
1 axis started 35
2 or 3-axes started 70
SVST
Error 150
CHGV 20
CHGA 25
CHGT 20
END Max.5000
(3) CPU processing time (ms)
CPU A273UHCPU A173UHCPU(-S1)
Number of set axes (SV22) 1 to 8 9 to 18 19 to 32 1 to 12 13 to 24 25 to 32
Number of set axis (SV13) 1 to 12 13 to 24 25 to 32 1 to 20 21 to 32 


Servo program start processing time
(Note-1)
4 to 11 10 to 18 14 to 21 4 to 11 10 to 18 14 to 21
Speed change response 0 to 4 0 to 8 0 to 14 0 to 4 0 to 8 0 to 14
Torque limit value change response 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4
Simultaneous start processing time (Note-
2)
7 to 17 10 to 24 14 to 28 7 to 17 10 to 24 14 to 28
Time from PLC ready flag (M2000) ON to
PCPU ready flag (M9074) ON
8 to 100 90 to 400 8 to 800 8 to 100 90 to 400
100 to
800
(Note-1): The FEED instruction varies greatly depending on the condition (whether other axes are operating or being
stopped).
(Note-2): This processing time varies depending on the commands to be started simultaneously. Use this time merely
for reference.
For other sequence program instruction processing times, refer to the ACPU
Programming Manual.
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