Position Control Operation Timing And Process Time - Mitsubishi Electric QD77MS User Manual

Position control operation timing and process time

[QD77MS4 operation example]
Positioning start signal
[Y10, Y11, Y12, Y13]
BUSY signal [XC, XD, XE, XF]
M code ON signal
(WITH mode) [X4, X5, X6, X7]
Cd. 7 M code OFF request
Start complete signal
[X10, X11, X12, X13]
Md. 26 Axis operation status
Positioning operation
Positioning complete signal
[X14, X15, X16, X17]
M code ON signal
(AFTER mode)
[X4, X5, X6, X7]
Cd. 7 M code OFF request
OPR complete flag
( Md. 31 Status: b4)
Fig. 6.10 Position control operation timing and process time
When the positioning start signal turns ON, if the "positioning complete signal" or
"OPR complete flag" are already ON, the "positioning complete signal" or "OPR
complete flag" will turn OFF when the positioning start signal turns ON.
Normal timing time
QD77MS2
QD77MS4
QD77MS16
Chapter 6 Sequence Program Used for Positioning Control
t1
t2
Standby Position control
t4
Operation
t1
cycle
0.88 0.2 to 0.3 0 to 0.9
1.77 0.2 to 0.3 0 to 1.8
0.88 0.2 to 0.3 0 to 0.9
1.77 0.2 to 0.3 0 to 1.8
0.88 0.3 to 1.4 0 to 0.9
1.77 0.3 to 1.4 0 to 1.8
 The t1 timing time could be delayed depending on the operating conditions of
the other axis.
t3
Standby
t5
t6
t2
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
t2 t3
0 to 0.9 1.8 to 2.7 0 to 0.9
0 to 1.8 2.5 to 3.9 0 to 1.8
0 to 0.9 1.8 to 2.7 0 to 0.9
0 to 1.8 2.5 to 3.9 0 to 1.8
0 to 0.9 1.8 to 2.7 0 to 0.9
0 to 1.8 3.2 to 3.9 0 to 1.8
6 - 65
t4 t5
Follows parameters
Follows parameters
Follows parameters
Follows parameters
Follows parameters
Follows parameters
Unit: [ms]
t6