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PPENDICES
APPENDIX 3.2 Processing time of Motion dedicated PLC instruction
Processing time of Motion dedicated PLC instruction
Processing time [µs]
Q170MCPU (PLC CPU area)
Classifications Symbol Instruction (Condition)
Min. Max.
D.SFCS Start request of the specified Motion SFC program 62.0 95.0
D.SVST Start request of the specified servo program 82.0 122.0
D.CHGA Current value change request of the specified axis 82.0 122.0
D.CHGV Speed change request of the specified axis 82.0 122.0
Multiple CPU high speed
bus Motion dedicated
instruction
D.CHGT Torque control value change request of the specified axis 82.0 122.0
Number of writing data = 1 76.0 126.0
D.DDWR
Write device data of the self CPU to
the device of other CPU
Number of writing data = 16 91.0 142.0
Number of reading data = 1 82.0 133.0
D.DDRD
Read device data of other CPU to the
device of self CPU
Number of reading data = 16 82.0 133.0
Multiple CPU high speed
bus other CPU access
instruction
D.GINT Execute request of an event task of Motion SFC program 50.0 80.0