Mitsubishi Electric Q Series Programming Manual page 332

APPENDICES
Operation cycle [ms]
"WAIT ON/OFF"
Servo program + Motion control step
start processing
Only Motion control step
(Note-1)
time
Dedicated instruction
(D(P).SVST) from the PLC CPU
Instruction (CHGV) from the
Speed change Motion SFC
response time
Dedicated instruction
(D(P).CHGV) from the PLC CPU
Instruction (CHGT) from the
Torque limit value
Motion SFC
change response
Dedicated instruction
time
(D(P).CHGT) from the PLC CPU
Time from PLC ready flag (M2000) ON to
PCPU READY complete flag (SM500) ON
(b) Q173DCPU(-S1)/Q172DCPU(-S1)
1.0 to 1.4
2.2 to 3.1
0.8 to 1.3
1.7 to 2.6
0.8 to 1.3
1.7 to 2.6
(Note-1): FEED instruction varies greatly depending on the condition (whether other axes are operating).
(3) Virtual servomotor axis/synchronous encoder axis operation cycle
[ms] (Default)
(a) Q173DSCPU/Q172DSCPU
Number of setting axes (SV22)
Virtual servomotor [ms]
Synchronous encoder [ms]
(b) Q173DCPU(-S1)/Q172DCPU(-S1)
Number of setting axes (SV22)
Virtual servomotor [ms]
Synchronous encoder [ms]
Q173DCPU(-S1)/Q172DCPU(-S1)
0.44 0.88 1.77
0.88 1.77
1.9 to 2.8 2.8 to 4.6
3.5 to 4.4 5.3 to 6.2
1.7 to 2.6 2.6 to 4.4
2.6 to 3.5 3.5 to 4.4
1.7 to 2.6 2.6 to 4.4
2.6 to 3.5 3.5 to 4.4
Q173DSCPU
1 to 6 7 to 16
0.44
0.44
Q173DCPU(-S1)
1 to 4 5 to 12
0.44 0.88
0.44 0.88
APP - 65
3.55 7.11
2.66 4.44 7.99
4.6 to 8.2 8.1 to 15.2
8.8 to 9.7 16.0 to 16.9 30.2 to 31.1
4.4 to 8.0 8.0 to 15.1
5.3 to 6.2 8.9 to 9.8
4.4 to 8.0 4.4 to 11.5
5.3 to 6.2 5.3 to 9.7
22 to 28
17 to 32 1 to 6
0.88 1.77 0.44
0.88 1.77 0.44
13 to 28 29 to 32
1.77 3.55
1.77 3.55
14.2
15.11
15.2 to 29.4
15.1 to 29.3
16.0 to 16.9
4.4 to 18.6
5.3 to 16.0
Q172DSCPU
7 to 16
0.88
0.88
Q172DCPU(-S1)
1 to 4 5 to 8
0.44 0.88
0.44 0.88