IAI America RCM-GW-DV - Manual (Page 86)

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DeviceNet Gateway
7. Communication Signal Details
7.1 Overview of Communication Signal Timings
When a given control signal is turned ON to operate the ROBO Cylinder controller using the sequence
program in the PLC, the maximum response time before a response (status) signal will be received is
expressed by the formula below:
Maximum response time (msec) = Yt + Xt + 2 x Mt + Command processing time (operation time, etc.)
Mt = 10 (msec) x (n+1): SIO link (Modbus) cycle time
n: Number of controlled axes
Yt: Master
→ remote I/O station transmission delay
Xt: Remote I/O
→ master station transmission delay
For the master
→ remote I/O station transmission delay (Yt) and remote I/O → master station
transmission delay (Xt), refer to the operation manuals for your DeviceNet master unit and PLC.
If a communication error occurs due to a problem along the transmission path, etc., a communication retry
or retries (up to three times) may occur, in which case the SIO link cycle time (Mt) will be extended.
DeviceNet
transmission delay
PLC sequence program
Control signal
Status signal
Master
→ remote I/O station
transmission delay (Yt)
Remote I/O
→ master station
transmission delay (Xt)
Gateway
Control signal
Status signal
Controller
Control signal
Status signal
SIO link cycle time SIO link cycle time
Command
processing time