Appendix 4 Processing Times Of The Motion Cpu - Mitsubishi Electric Q Series Programming Manual

APPENDICES

APPENDIX 4 Processing Times of the Motion CPU

Number of setting axes (SV22)
Operation cycle [ms]
Operation cycle [ms]
Servo program start
(Note-1)
processing time
Speed change
response time
Torque limit value
change response time
Time from PLC ready flag (M2000) ON to
PCPU ready flag (SM500) ON
(Note-1): FEED instruction varies greatly depending on the condition (whether other axes are operating or being stopped).
The processing time of each signal and each instruction for positioning control in the
Multiple CPU system is shown below.
(1) Motion operation cycle [ms] (Default)
(2) 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.)
"WAIT ON/OFF"
+ Motion control step
Only Motion control step
Dedicated instruction
(D(P).SVST) from the
PLC CPU
Instruction (CHGV) from
the Motion SFC
Dedicated instruction
(D(P).CHGV) from the
PLC CPU
Instruction (CHGT) from
the Motion SFC
Dedicated instruction
(D(P).CHGT) from the
PLC CPU
(3) Virtual servomotor axis/synchronous encoder axis operation cycle
[ms] (Default)
Number of setting axes (SV22)
Virtual servomotor [ms]
Synchronous encoder [ms]
Q173DCPU
1 to 4 5 to 12
0.44 0.88
Q173DCPU/ Q172DCPU
0.44 0.88 1.77
0.88 1.77 2.66
1.0 to 1.4 1.9 to 2.8 2.8 to 4.6 4.6 to 8.2 8.1 to 15.2 15.2 to 29.4
2.2 to 3.1 3.5 to 4.4 5.3 to 6.2 8.8 to 9.7 16.0 to 16.9 30.2 to 31.1
0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 8.0 to 15.1 15.1 to 29.3
1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2
0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 4.4 to 11.5
1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2
Q173DCPU
1 to 4 5 to 12
0.44 0.88
0.44 0.88
APP - 50
13 to 28 29 to 32 1 to 4
1.77 3.55 0.44
3.55 7.11
4.44 7.99
8.9 to 9.8
5.3 to 9.7
22 to 28
13 to 28 29 to 32 1 to 4
1.77 3.55
1.77 3.55
Q172DCPU
5 to 8
0.88
14.2
15.11
16.0 to 16.9
4.4 to 18.6
5.3 to 16.0
Q172DCPU
5 to 8
0.44 0.88
0.44 0.88