Appendix 1.2 Processing Time Of Motion Dedicated Plc Instruction - Mitsubishi Electric Melsec Q Series Programming Manual

APPENDICES

APPENDIX 1.2 Processing time of Motion dedicated PLC instruction

Classifications Symbol
D.SFCS
D.SVST
D.CHGA
D.CHGAS
Multiple CPU high
speed bus Motion
D.CHGV
dedicated
D.CHGVS
instruction
D.CHGT
D.CHGT2
D.DDWR
Multiple CPU high
speed bus other
D.DDRD
CPU access
instruction
D.GINT
(Note): The speed-up of the processing time has been achieved at QnUD(E)(H)CPU-B02 or later (upper five digit of serial No. is "10012" or later).
Processing time of Motion dedicated PLC instruction
Instruction (Condition)
Start request of the specified Motion SFC program
Start request of the specified servo program
Current value change request of the specified axis
Current value change request of the specified
command generation axis
Speed change request of the specified axis
Speed change request of the specified command
generation axis
Torque control value change request of the
specified axis
Torque control value individual change request of
the specified axis
Write device data of Number of writing data = 1
the self CPU to the
Number of writing data = 16
device of other CPU
Read device data of Number of reading data = 1
other CPU to the
Number of reading data = 16
device of self CPU
Execute request of an event task of Motion SFC
program
(Note)
Q03UD(E)CPU
Min. Max.
62.0 95.0
82.0 122.0
82.0 122.0
82.0 122.0
82.0 122.0
82.0 122.0
82.0 122.0
87.0 127.0
82.0 133.0
91.0 142.0
82.0 133.0
82.0 133.0
50.0 80.0
APP - 23
Processing time [ µ s]
(Note)
Q04UD(E)HCPU /
(Note)
Q06UD(E)HCPU /
Q03UDVCPU/
(Note)
Q10UD(E)HCPU /
Q04UDVCPU/
(Note)
Q13UD(E)HCPU /
Q06UDVCPU/
(Note)
Q20UD(E)HCPU /
Q13UDVCPU/
(Note)
Q26UD(E)HCPU /
Q26UDVCPU
(Note)
Q50UDEHCPU /
(Note)
Q100UDEHCPU
Min. Max. Min.
60.0 94.0 31.0
80.0 115.0 42.0
80.0 115.0 42.0
80.0 115.0 42.0
80.0 115.0 42.0
80.0 115.0 42.0
80.0 115.0 42.0
85.0 120.0 42.0
80.0 130.0 34.0
89.0 139.0 37.0
80.0 130.0 34.0
80.0 130.0 34.0
48.0 78.0 31.0
Max.
66.0
76.0
76.0
76.0
76.0
76.0
76.0
76.0
82.0
84.0
81.0
81.0
66.0