Mitsubishi Electric RD77MS2 User Manual page 123

Operation timing and processing time
■RD77MS4 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 Standby
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)
Operation Normal timing time Unit: [ms]
cycle
t1
0.444 0.316 to 1.366
0.888 0.316 to 1.366
1.777 0.316 to 1.366
3.555 0.316 to 1.366
• 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.
t1
t2
Speed control Position control
Speed Position
control control
t4
t6
t2 t3
0.000 to 0.444 0.000 to 0.444
0.000 to 0.888 0.000 to 0.888
0.000 to 1.777 0.000 to 1.777
0.000 to 3.555 0.000 to 3.555
t3
Standby
*Speed control is carried out until speed-position switching
signal turns ON.
t5
t7
t2
t4 t5
0.503 to 1.599 0.000 to 0.444
2.195 to 3.064 0.000 to 0.888
3.798 to 4.459 0.000 to 1.777
5.630 to 7.984 0.000 to 3.555
3 MAJOR POSITIONING CONTROL
t6 t7
0.346 Follows parameters
0.346 Follows parameters
0.348 Follows parameters
0.348 Follows parameters
3.2 Setting the Positioning Data
3
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