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Computing the Cycle Time Section 2-7
2-7-11 Pulse Output Change Response Time
The pulse output change response time is the time for any change made by
executing an instruction during pulse output to actually affect the pulse output
operation.
Pulse output instruction Start time
SPED: continuous 53 µs
SPED: independent 55 µs
ACC: continuous 65 µ s
ACC: independent, trapezoidal 69 µs
ACC: independent, triangular 70 µs
PLS2: trapezoidal 74 µs
PLS2: triangular 76 µs
Pulse output instruction Change response time
INI: immediate stop 57 µs + 1 pulse output time
SPED: immediate stop 54 µs + 1 pulse output time
ACC: deceleration stop 1 control cycle (4 ms) minimum,
2 control cycles (8 ms) maximum
PLS2: deceleration stop
SPED: speed change
ACC: speed change
PLS2: target position change in
reverse direction
PLS2: target position change in
same direction at same speed
PLS2: target position change in
same direction at different speed
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