Mitsubishi Electric MELSEC iQ-R Series User Manual page 25

■Operation timing and processing time
The following shows details about the operation timing and time during position control.
• 4-axis module operation example
Positioning start signal
BUSY signal
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
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)
When the positioning start signal turns ON, if the "positioning complete signal" or "home position return
complete flag" is already ON, the "positioning complete signal" or "home position return complete flag" will
turn OFF when the positioning start signal turns ON.
• 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.
Start by the external command signal (DI)
When starting positioning control by inputting the external command signal (DI), the start command from the slave module
can be directly input into the Simple Motion module.
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[Y10, Y11, Y12, Y13]
[X10, X11, X12, X13]
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 2.000
0.77 to 4.50 0.00 to 4.00
search engine
t2
Position control
t4
t5
*2
t3 t4
0.00 to 0.25 0.80 to 0.90
0.00 to 0.50 1.50 to 1.60
0.00 to 1.00 3.00 to 3.10
0.00 to 2.00 6.40 to 6.60
0.00 to 4.00 13.50 to 13.70
t3
Standby
t6
t2
t5 t6
0.00 to 0.25 Follows parameters
0.00 to 0.50 Follows parameters
0.00 to 1.00 Follows parameters
0.00 to 2.00 Follows parameters
0.00 to 4.00 Follows parameters
1 START AND STOP
1
23
1.1 Start