Mitsubishi Electric R16MTCPU Programming Manual page 332

Processing time by the combination F and G (program described in F/G is NOP)
Name
F alone
G alone
F+G
GSUB
CLR
JMP/coupling
Parallel 2 Pcs
branch
5 Pcs.
Selective 2 Pcs
branch
5 Pcs.
*1 Varies greatly with the started or cleared program.
Long processing time may cause a Motion CPU WDT error or servo fault. Especially for the Motion SFC
programs run by event/NMI tasks, take care so that the processing time will not be too long (the processing
time will not exceed the operation cycle).
APPENDICES APPENDIX
330
Appendix 1 Processing Times
Motion SFC chart
At branch
At coupling
At branch
At coupling
F
G
G
F
F
G
F
G
SUB
*1
SUB
F
END
CLR
SUB
*1
SUB
P
F
G
P
P
P
F F
G G
F F F
G G G
G G
F F
G G G
F F F
Unit [µs]
8.0
7.5
9.0
14.0
10.0
7.0
13.0
10.5
28.0
10.5
F
G
28.5
32.5
G
F