Mitsubishi Electric MELSEC Q Series Programming Manual page 565

APPENDICES
Operation cycle [ms]
"WAIT ON/OFF"
+ Motion control step
Servo program
start processing Only Motion control step
(Note-1)
time
Dedicated instruction
(D(P).SVST) from the PLC CPU
Instruction (CHGV) from the
Motion SFC
Speed change
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)
0.44
0.88
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).
Q173DCPU(-S1)/Q172DCPU(-S1)
0.88 1.77
1.77 2.66
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
APP - 74
3.55 7.11
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
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