IAI America PCON-CFA - Manual (Page 147)

3. SCON-CA/CF
A
141
3.7 I/O Signal Timings
When any of the control signal is turned ON to perform the operation of the robot cylinder using the PLC's
sequence program, the response (status) is returned to the PLC. The maximum response time is expressed
using the following formula.
Maximum response time (msec)
ዙYt+xt+3+ command processing time (operation time, etc.)
Yt: Master Stationĺslave transmission delay time
xt: SlaveĺMaster Station Transmission Delay Time
Master Stationĺ For the master station ĺ slave transmission delay (Yt) and slave ĺ master station
transmission delay (xt), refer to the Operation Manuals for the EtherCAT(R) master unit
and PLC installed in the master unit.
Filed Network Transmission
Delay Time
PLC sequence program
Control Signal
Status Signal
Control Signal
Status Signal
Slave
Transmission delay time (Yt)
Slave
Transmission delay time (Xt)
Command processing time
Master station
Master station
PCON