Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 476

CPU processing time [ms]
The instruction processing time means the time until the content is reflected to servo amplifier side after each instruction is
executed.
(Including the transmission time between Motion controller and servo amplifier.)
Operation cycle [ms]
Servo program "WAIT ON/OFF" + Motion control
start processing step
*1
time
Only Motion control step
Dedicated instruction (D(P).SVST)
from the PLC CPU
Dedicated instruction (M(P).SVST)
from the PLC CPU
Direct positioning Dedicated instruction
start request (D(P).SVSTD) from the PLC CPU
processing time
Dedicated instruction
(M(P).SVSTD) from the PLC CPU
Speed change Instruction (CHGV) from the
processing time Motion SFC
Dedicated instruction (D(P).CHGV)
from the PLC CPU
Dedicated instruction
(M(P).CHGV) from the PLC CPU
Command Instruction (CHGVS) from the
generation axis Motion SFC
speed change
Dedicated instruction
processing time
(D(P).CHGVS) from the PLC CPU
Dedicated instruction
(M(P).CHGVS) from the PLC CPU
Torque limit value Instruction (CHGT) from the
change Motion SFC
processing time
Dedicated instruction (D(P).CHGT)
from the PLC CPU
Dedicated instruction
(M(P).CHGT) from the PLC CPU
Target position Instruction (CHGP) from the
change Motion SFC
processing time
Machine program Instruction (MCNST) from the
operation start Motion SFC
*3
processing time
Dedicated instruction
(D(P).MCNST) from the PLC CPU
Dedicated instruction
(M(P).MCNST) from the PLC CPU
G-code control Automatic operation start (cycle
program start start) ON
processing time
Time from "[Rq.1120] PLC ready flag (R: M30000/Q:
M2000)" ON to "PCPU READY complete flag (SM500)"
ON
*1 FEED instruction varies greatly depending on the condition (whether other axes are operating).
*2 The processing time gets larger depending on the number of axes set.
*3 CPU processing time when "Number of positioning points = 1".
APPENDICES
474
Appendix 1 Processing Times of the Motion CPU
R64MTCPU/R32MTCPU/R16MTCPU
0.222 0.444
0.444 0.888
0.666 to 0.888 1.110 to 1.554
1.332 to 1.554 1.776 to 2.220
0.888 to 1.110 1.332 to 1.776
1.332 to 1.554 1.776 to 2.220
0.888 to 1.110 1.332 to 1.776
0.444 to 0.888 0.888 to 1.332
0.888 to 1.110 1.332 to 1.776
0.666 to 0.888 1.110 to 1.554
0.444 to 0.888 0.888 to 1.332
0.888 to 1.110 1.332 to 1.776
0.666 to 0.888 1.110 to 1.554
0.444 to 0.888 0.888 to 1.332
0.888 to 1.110 1.332 to 1.776
0.666 to 0.888 1.110 to 1.554
0.444 to 0.888 0.888 to 1.332
 1.332 to 1.776

1.776 to 2.220

1.332 to 1.776
 
*2
22 to 165
0.888 1.777
1.777 3.554
1.998 to 2.886 3.776 to 5.553
2.664 to 3.552 3.554 to 5.331
2.220 to 3.108 2.666 to 4.443
2.664 to 3.552 3.554 to 5.331
2.220 to 3.108 2.666 to 4.443
1.776 to 2.664 2.665 to 4.442
2.220 to 3.108 3.109 to 4.886
1.998 to 2.886 2.887 to 4.664
1.776 to 2.664 2.665 to 4.442
2.220 to 3.108 3.109 to 4.886
1.998 to 2.886 2.887 to 4.664
1.776 to 2.664 2.665 to 4.442
2.220 to 3.108 3.109 to 4.886
1.998 to 2.886 2.887 to 4.664
1.776 to 2.664 2.665 to 4.442
1.776 to 2.664 2.665 to 4.442
2.664 to 3.552 3.554 to 5.331
2.220 to 3.108 2.666 to 4.443
15.111 to 30.222 to
19.556 39.111
3.555 7.111
7.110 14.222
7.332 to 14.444 to
10.887 21.555
7.110 to 14.222 to
10.665 21.333
5.333 to 8.888 10.667 to
14.222
7.110 to 14.222 to
10.665 21.333
5.333 to 8.888 10.667 to
14.222
4.443 to 7.998 7.999 to
15.110
4.887 to 8.442 11.998 to
19.109
4.665 to 8.220 11.776 to
18.887
4.443 to 7.998 7.999 to
15.110
4.887 to 8.442 11.998 to
19.109
4.665 to 8.220 11.776 to
18.887
4.443 to 7.998 7.999 to
15.110
4.887 to 8.442 8.443 to
15.554
4.665 to 8.220 8.221 to
15.332
4.443 to 7.998 7.999 to
15.110
4.443 to 7.998 

7.110 to
10.665

5.333 to 8.888
60.444 to 120.889 to
78.222 156.444