I thought cross connections are executed every 12ms.
Does it matter if you have few or a very high amount of cross connections, towards this update cycle of 12 ms?
Can one be sure when using a hight amount of cross connections that they will still be executed every 12ms, or could the
update time be larger : f.i. 24-48-56 ms?
Execution of cross connections in IRC5
- Plc_User
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An additional question that I forgot :
if I have f.i. crossconnection 2 that uses the result of cross connection 1, and I want that cross connection 2 is calculated immediately after cross connection 1 (and not one cycle of 12 ms later) what is the trick to execute them in the order I want?
Is the order in the overview of cross connections in Robotstudio the order in which they are executed? -
I just read the manual for IO, cross connections. I wanted to double check because I had never heard of this cyclic 12 ms. There is no mention of that there, the robot doesn't scan like PLC ladder cycles. The order of evaluation is from left to right. So if you set the up in a certain order of resultants and actors, I think that you will be able to do what you asked in your second post.
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OK, so now you have made me curious....
What is the application and why does the delay matter ?
What are you cross-connecting ? Logical (simulated) or physical signal ?Regardless of what the answers are I think it's fairly safe to say that you can NOT make the assumption that 12ms is a fixed delay that you can rely on for (what I assume is...) time/distance compensation.
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An interrupt can stop a started motion somewhere on the trajectory.
The reasons that can cause a stop are multiple and complex (and- or- nesting).
I have not option multitasking.
A logical combination of signals programmed as a crossconnection will be the signal that activates the interrupt that then will stop the motion. -
And the purpose of knowing the delay is.... ?
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If the interrupt that wil stop the motion is triggered by a signal that is the result of a crossconnection, it matters how fast the crossconnections are executed : slower update time of crossconnections -> possibly longer distance before motion is stopped.
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Well.... the simple answer is "how long is a piece of string"
Your delay is not guaranteed to be 12ms since you have a lot of factors (delays in the I/O system, rapid and the cross-connections) all totaling up to whatever your delay is, but also your robot size, payload, speed, position, etc. will affect the stop time once the stop command is issued.But to answer your original question.... No, you can not.
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