Mitsubishi Electric MELSEC iQ-R Series User Manual page 124

Operation timing and processing time
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
Position-speed switching command
[Cd.25] Position-speed switching
control speed change register
Positioning complete signal
([Md.31] Status: b15)
Home position return complete flag
([Md.31] Status: b4)
[Cd.180] Axis stop
• 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 and "[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
122
3.2 Setting the Positioning Data
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t1
Standby
*1
t1 t2
0.25 to 0.69 0.13 to 0.15
0.38 to 0.84 0.25 to 0.25
0.60 to 1.50 0.61 to 0.62
0.74 to 2.60 1.57 to 1.63
0.77 to 4.50 3.61 to 3.63
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t2
Position control Speed control
Position Speed
control control
t4
Position control is carried out until position-speed switching signal
turns ON.
Speed control command speed is from the input position of
the external position-speed switching signal.
t6
*2
t3 t4
0.23 to 0.25 0.83 to 0.87
0.48 to 0.49 1.55 to 1.58
0.96 to 0.97 3.00 to 3.10
1.95 to 1.96 6.50 to 6.56
3.95 to 3.97 13.45 to 13.57
t3
Stop
t5





*3*4
t6
0.95 to 1.45
1.91 to 1.92
2.84 to 2.85
3.83 to 3.86
7.85 to 7.87