Mitsubishi Electric MELSEC iQ-R Series User Manual page 118

Operation timing and processing time
■4-axis module operation example
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
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)".
3 MAJOR POSITIONING CONTROL
116
3.2 Setting the Positioning Data
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t1
Standby Speed control
t4
*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
search engine
t2
t3
Position control Standby
Speed Position
control control
Speed control is carried out until speed-position switching
signal turns ON.
t5
t6
t2
*2
t3 t4
0.00 to 0.25 0.84 to 0.87
0.00 to 0.50 1.55 to 1.61
0.00 to 1.00 3.04 to 3.08
0.00 to 2.00 6.52 to 6.58
0.00 to 4.00 13.40 to 13.70
t7
*3*4
t5 t6
0.00 to 0.25 0.95 to 1.46
0.00 to 0.50 1.91 to 1.93
0.00 to 1.00 2.82 to 2.87
0.00 to 2.00 3.87 to 3.98
0.00 to 4.00 7.85 to 7.96
t7
Follows parameters
Follows parameters
Follows parameters
Follows parameters
Follows parameters