Omron Sysmac CJ1 CPU6 HR - Manual (Page 2)

These Amazingly Fast Controllers Take High-speed Control into the Microsecond Realm
Nothing But Speed True Speed Evident in Actual Application
Faster in Essentially Every Way
Example: Drilling PCBs with High-speed,
High-precision Positioning Cycle Time Comparison
Scan time
PCMIX
Basic instructions
Floating-point instructions
Interrupt response
Outstanding Control Performance
870 μs for 30K steps
17.7
LD: 16 ns, OUT: 16 ns
Addition/subtraction: 0.24 μs,
Multiplication: 0.24 μs
40 μs
0.0
CJ1-H
CJ1-H-R
1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0 10.0
1.46 ms 1.46 ms
8.09 ms
Approx. 5.5 times faster
Greater speed has been achieved for essentially all processes that affect the cycle
time of the CJ1-H-R. The result is a cycle time below 1 ms, representing the fastest
class of controller in the industry.
Greatly
reduced
cycle time
Overhead
0.3 ms 0.13 ms
2 times faster
2 times faster
1.2 times faster
71 times faster
Cycle time (ms)
I/O refreshing
Peripheral servicing
Program execution
Overhead
FROM CJ1-H
CPU Units TO CJ1-H-R
CPU Units
8.09 ms 1.46 ms
Program execution
I/O refreshing
Overhead
Peripheral servicing
CJ1H-CPU6 H-R
SMARTSTEP
Junior
Servo Drivers
R7D-Z Servomotors
R7M-Z
Fast! Basic Instructions
Fast! System Overhead
Fast! Floating-point
Calculations
Fast! I/O Refreshing
Conditions 30K steps, 7:3 ratio between basic and special instructions,
128 inputs and 128 outputs
Overhead processing: 130 μs
Interrupt response: 40 μs
LD execution: 16 ns
OUT execution: 16 ns
SIN execution: 0.59 μs
Floating-point addition/
subtraction:
0.24 μs
16-point Basic I/O Unit: 1.4 μs
8-point Analog Input Unit: 50 μs
Conditions 6:3:1 ratio of basic, special, and floating-point instructions, 30K steps with 128 inputs and 128 outputs, 2 Analog Input Units,
and 2 Position Control Units (4 axes)
The "R"
CPU Units
achieve the levels
of precision and
speed required by
today's machines with
the highest control
performance in
the industry.
I/O refreshing
3
μs 1.4 μs for Basic I/O Units
Program Execution
20 ns 16 ns for LD instruction
42.0 ns 0.59 ns for SIN instruction