Mitsubishi Electric RD77MS2 User Manual page 130

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
Operation Normal timing time Unit: [ms]
cycle
t1
0.444 0.286 to 1.382
0.888 0.286 to 1.382
1.777 0.286 to 1.382
3.555 0.286 to 1.382
• 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.
3 MAJOR POSITIONING CONTROL
128
3.2 Setting the Positioning Data
t1
t2
Standby Position control
Position
control
t4
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
Speed control Stopped
Speed
control
*Position control 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
t4
0.991 to 1.608
2.165 to 3.009
3.777 to 4.406
5.552 to 7.960
t5 t6

0.343

0.346

0.347

0.349