Appendix 6 Processing Times - Mitsubishi Electric A173UHCPU Programming Manual

APPENDICES

APPENDIX 6 PROCESSING TIMES

The following tables list the processing time of each instruction for positioning
control in the servo system CPU.
(1) Motion operation cycle (ms)
CPU
Number of set axes (SV22)
Number of set axis (SV13)
Operation cycle
(2) SCPU instruction processing time ( µ s)
Number of set axes
1 axis started
SVST 2 or 3-axes started
Error
CHGV
CHGA
CHGT
END
(3) CPU processing time (ms)
CPU
Number of set axes (SV22)
Number of set axis (SV13)
Servo program start processing time
(Note-1)
Speed change response
Torque limit value change response
Simultaneous start processing time (Note-
2)
Time from PLC ready flag (M2000) ON to
PCPU ready flag (M9074) ON
(Note-1): The FEED instruction varies greatly depending on the condition (whether other axes are operating or being
stopped).
(Note-2): This processing time varies depending on the commands to be started simultaneously. Use this time merely
for reference.
For other sequence program instruction processing times, refer to the ACPU
Programming Manual.
A273UHCPU
1 to 8 9 to 18
1 to 12 13 to 24
3.5ms 7.1ms
A273UHCPU
1 to 8 9 to 18
1 to 12 13 to 24
4 to 11 10 to 18
0 to 4 0 to 8
0 to 4 0 to 4
7 to 17 10 to 24
8 to 100 90 to 400
APP − 59
A173UHCPU(-S1)
19 to 32 1 to 12 13 to 24
25 to 32 1 to 20 21 to 32
14.2ms 3.5ms 7.1ms
1 to 32
35
70
150
20
25
20
Max.5000
A173UHCPU(-S1)
19 to 32 1 to 12 13 to 24
25 to 32 1 to 20 21 to 32
14 to 21 4 to 11 10 to 18
0 to 14 0 to 4 0 to 8
0 to 4 0 to 4 0 to 4
14 to 28 7 to 17 10 to 24
8 to 800 8 to 100 90 to 400
25 to 32
   
14.2ms
25 to 32
   
14 to 21
0 to 14
0 to 4
14 to 28
100 to
800