Mitsubishi Electric MELSEC iQ-R Series User Manual page 109

Operation timing and processing time
■4-axis module
Positioning start signal
[Y10, Y11, Y12, Y13]
BUSY signal [X10, X11, X12, X13]
M code ON signal ([Md.31] Status: b12)
(WITH mode)
[Cd.7] M code OFF request
Start complete signal ([Md.31] Status: b14)
[Md.26] Axis operation status
Positioning operation
Speed-position switching command
[Cd.23] Speed-position switching control
movement amount change register
Positioning complete signal
([Md.31] Status: b15)
M code ON signal ([Md.31] Status: b12)
(AFTER mode)
[Cd.7] M code OFF request
Home position return complete flag
([Md.31] Status: b4)
• Normal timing time Unit: [ms]
Operation
cycle
0.25
0.50
1.00
2.00
4.00
*1 The t1 timing time could be delayed by the operation state of other axes.
*2 The t4 timing time depends on the setting of the acceleration time, servo parameter, etc.
*3 When using the proximity dog signal or "[Cd.46] Speed-position switching command", the t6 timing time could be delayed or vary
influenced by the PLC scan time or communication with servo amplifier.
*4 When the servo parameter of the servo amplifier "Input filter setting (PD11)" is set to "0: No filter", the time fluctuates depending on the
setting value of the servo parameter "Input filter setting (PD11)".
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t1
Standby
*1
t1 t2
0.25 to 0.69 0.00 to 0.25
0.38 to 0.84 0.00 to 0.50
0.60 to 1.50 0.00 to 1.00
0.74 to 2.60 0.00 to 2.00
0.77 to 4.50 0.00 to 4.00
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t2
Position
Speed control
control
Speed Position
control control
t4
Speed control is carried out until speed-position switching
signal turns ON.
Position control movement amount is from the input position of
the external speed-position switching signal.
t6
*2
t3 t4
0.00 to 0.25 0.84 to 0.87
0.00 to 0.50 1.53 to 1.59
0.00 to 1.00 3.04 to 3.09
0.00 to 2.00 6.40 to 6.60
0.00 to 4.00 13.35 to 13.65
t3
Standby
t5
t7
t2
*3*4
t5 t6
0.00 to 0.25 0.95 to 0.96
0.00 to 0.50 1.91 to 1.92
0.00 to 1.00 2.84 to 2.87
0.00 to 2.00 3.85 to 3.91
0.00 to 4.00 7.88 to 7.92
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
3
t7
Follows parameters
Follows parameters
Follows parameters
Follows parameters
Follows parameters
107