Characteristics and performance

At a Glance

This section describes the performance and characteristics of the step by step control functions:

the memory size used by a SMOVE function,
the time taken for the execution of step by step control functions,
the module cycle time,
the characteristics of the low-order value movements,

Size of an SMOVE function

This table indicates the memory zones used during an SMOVE instruction as well as the corresponding size in number of 16 bit words.

	Bit memory	Data zone	Program zone
TSX CFY 11	29	390	170
TSX CFY 21	58	780	220
Additional cost of first configured channel	0	0	2290

Execution time

This table details the execution time for functions associated with step by step axes control.

Function description	Execution time
Acquisition of inputs/outputs from TSX CFY	95 micro-seconds
SMOVE function	840 micro-seconds
READ_STATUS	540 micro-seconds
READ_PARAM	460 micro-seconds
WRITE_PARAM	760 micro-seconds
SAVE_PARAM	500 micro-seconds
RESTORE_PARAM	780 micro-seconds
Recognition of an adjustment (following a WRITE_PARAM instruction)	60 ms for the TSX CFY 11 210 ms for the TSX CFY 21
Recognition of the reconfiguration of a channel	1.5 s

NOTE: the module cycle time is 10 ms

Small-sized movement characteristics

A low-order value movement corresponds to a movement that does not enable the speed specified in the instruction to be reached. The speed law resembles a triangle instead of a trapezoid.

Example of the instruction SMOVE (Axis_ch1,1, 90, 09, X1, V ,0),

Axis_ch1 is an IODDT type variable (T_STEPPER_STD),
X1 is the position to be reached,
V the cruising speed at which the movement must be made.
note X0, the start position of the moving part.

This table describes the possible scenarios.

If the distance to run is X0 to X1	Then
is sufficient to reach the specified speed V	the movement is executed according to a trapezoidal trajectory. This trajectory reveals the acceleration and deceleration periods equal to t_ACC
is insufficient to reach the specified speed V	the movement is executed according to a triangular trajectory, the periods of the acceleration and deceleration phases are reduced in proportion to the speed.