Chapter 9 Axis The maximum execution time for motion programming is set as the execution time for motion programming time (unit: ms). Since 1000 microseconds equals to 1 millisecond. It is suggested to round up the unit (ms) for applications. For example, the maximum execution time for motion programming is 2567 microseconds and equals to 2.5 milliseconds. Thus, the execution time is rounded to 3 milliseconds. The estimated communication time between DVPxxMC and servo drives is 0.5 milliseconds per axis. It is suggested to round up the unit (ms) for applications. For example, the communication time for five servo drives is 5*0.5 milliseconds and equals to 2.5 milliseconds.
Thus, the execution time is rounded to 3 milliseconds. Calculation formula: Cyclic (ms) = round the max. execution time (ms) + communication time between DVPxxMC and servo drives (ms) + 1 (reserved time for program change) (ms). For program change, the reserved time is set between 1 to 2 milliseconds so that the synchronous time setting is not affected by increased programming time. Example: The maximum execution time for five servo drives is 1634 microseconds. The reserved time for program change is 1 millisecond. Cyclic = 2 milliseconds (round the max.
execution time of 1634 microseconds to an integer) + 3 milliseconds (round 5*0.5 to an integer) + 1 millisecond (reserved time to program) = 6 milliseconds. For DVPxxMC and AS5xx series, the following table provides axis related system structure: 9-9 Member Variable Data Type Function Description CmdPos LREAL Command position (unit: unit) CmdVel LREAL Command velocity (unit: unit/sec) CmdAcc LREAL Command acceleration (unit: unit/sec) CmdTrq INT Command torque (per thousand (1‰) of rated torque) ActPos LREAL Actual position (unit: unit) ActVel LREAL Actual velocity(unit: unit/sec) ActTrq INT Actual torque (per thousand (1‰) of rated torque) ActCur INT Actual current