Omron CJ1M-CPU21 User Manual

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Interrupt Response Times Appendix C
Pulse Output Startup Time
The startup time is the time it takes between the execution of a pulse output instruction and the actual output of
pulses from the output terminals. The startup time depends on the pulse output instruction being used and the
selected operation.
Pulse Output Change Response Time
In some cases, another pulse output instruction can be executed during a pulse output operation to change the
settings or the operation itself. The change response time is the time it takes between the execution of another
pulse output instruction and the actual change in the pulse output at the output terminals.
Pulse output instruction Startup time
CJ1M-CPU22/23 CJ1M-CPU21
SPED(885) (Continuous) 46 µs 63 µs
SPED(885) (Independent) 50 µs 68 µs
ACC(888) (Continuous) 60 µs 85 µs
ACC(888) (Independent, trapezoidal control) 66 µs 95 µs
ACC(888) (Independent, triangular control) 68 µs 98 µs
PLS2(887) (Trapezoidal control) 70 µs 100 µs
PLS2(887) (Triangular control) 72 µs 104 µs
Pulse output instruction Change response time
CJ1M-CPU22/23 CJ1M-CPU21
INI(880) (Immediate stop) 60 µs + 1 pulse output time 67 µs + 1 pulse output time
SPED(885) (Immediate stop) 62 µs + 1 pulse output time 80 µs + 1 pulse output time
ACC(888) (Decelerate to a stop) Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
PLS2(887) (Decelerate to a stop) Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
SPED(885) (Change speed) Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
ACC(888) (Change speed) Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
PLS2(887) (Change target position, reverse) Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
PLS2(887) (Change target position, same direc-
tion, same speed)
Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
PLS2(887) (Change target position, same direc-
tion, change speed)
Between 1 control cycle (4 ms) and 2 control cycles (8 ms)
Instruction execution
Pulse output
Startup time

Omron CJ1M-CPU21 Specifications

General

Brand	Omron
Model	CJ1M-CPU21
Category	I/O Systems
Language	English