Mitsubishi Electric QD77MS User Manual page 565

control (ABS mode)
[QD77MS4 operation example]
Positioning start signal
[Y10, Y11, Y12, Y13]
BUSY signal
[XC, XD, XE, XF]
M code ON signal
[X4, X5, X6, X7](WITH mode)
Cd.7 M code OFF request
Start complete signal
[X10, X11, X12, X13]
Md.26 Axis operation status
Positioning operation
Speed-position switching
command
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. 9.17 Operation timing and processing time during speed-position switching control (ABS mode)
Normal timing time
Operation cycle
0.88
QD77MS2
1.77
0.88
QD77MS4
1.77
0.88
QD77MS16
1.77
 The t1 timing time could be delayed by the operation state of other axes.

When using the near-point 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.
Operation timing and processing time during speed-position switching
t1
t2
Speed control
Standby
t4
t1 t2
0.2 to 0.3 0 to 0.9
0.2 to 0.3 0 to 1.8
0.2 to 0.3 0 to 0.9
0.2 to 0.3 0 to 1.8
0.3 to 1.4 0 to 0.9
0.3 to 1.4 0 to 1.8
Standby
Position control
Speed
Position
control control
Speed control carried out until speed-position switching
signal turns ON
t6
t5
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
t3 t4
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
9 - 107
Chapter 9 Major Positioning Control
t3
t7
t2
t5 t6
0.2 Follows parameters
0.2 Follows parameters
0.2 Follows parameters
0.2 Follows parameters
0.2 Follows parameters
0.2 Follows parameters
Unit: [ms]
t7