MC_MOVEABSOLUTE Start (change mode, modification of acceleration and deceleration)

(6 to 7)c

(6 to 7)c

(6 to 7)c

(4 to 5)c

X

X

MC_MOVEABSOLUTE Start (no changes)

1c

1c

1c

1c

X

X

Time between 2 MC_MOVEABSOLUTE (1)

2c

2c + 3ms + TcMH

2c + 1ms + TcLP

2c

X

X

Time between 2 MC_MOVEABSOLUTE (second motion task just after the first motion task)

1c + 0.5 ms

1c + 3ms + TcMH

1c + 1ms + TcLP

1c + 0.5 ms

X

X

Interruption delay MC_MOVEABSOLUTE to the same instance

1c + 0.5 ms

1c + 5ms + TcMH

1c + 1ms + TcLP

1c + 0.5 ms

X

X

Interruption delay MC_MOVEABSOLUTE with another instance

1c + 0.5 ms

1c + 5ms + TcMH

1c + 1ms + TcLP

1c + 0.5 ms

X

X

Start motion task

X

1c + 5ms + TcMH

1c + 2ms + TcLP

X

X

X

Delay between two motion tasks (1)

X

1c + 5ms + TcMH

42 + TcLP

X

X

X

Stop during Move

1c + 0.5 ms

1c + 1ms + TcMH

1c + 2ms + TcLP

1c + 0.5 ms

X

X

Change speed in the same instance of MC_MOVEVELOCITY

1c + 0.5 ms

1c + 1ms + TcMH

1c + 1ms + TcLP

1c + 0.5 ms

1c + 10ms + TcATV31

1c + 5ms + TcATV71

Save servodrives parameters (TE_UPLOADDRIVEPARAM)

212

760

851

197

473

1283

Transfer of servodrives parameters (TE_DOWNLOADDRIVEPARAM)

219

1239

1460

204

502

1329

Save 20 motion tasks (LXM_UPLOADMTASK)

X

1778

1739

X

X

X

Load 20 motion tasks (LXM_DOWNLOADMTASK)

X

1237

583

X

X

X

Legend

(1): in the case of a program where the second comand comes before the first command, you have to add one PLC period task on the equation.