Mitsubishi Electric MELSEC iQ-R Series User Manual page 42

Operation timing and processing time
The following shows details about the operation timing and time during fast home position return.
[4-axis module operation example]
Positioning start signal
[Y10, Y11, Y12, Y13]
BUSY signal
[X10, X11, X12, X13]
Start complete signal
([Md.31] Status: b14)
[Md.26] Axis operation
status
Positioning operation
• Normal timing time (Unit: [ms])
Operation cycle
0.25
0.50
1.00
2.00
4.00
*1 The t1 timing time could be delayed by the operation state of other axes.
*2 The t2 timing time depends on the setting of the acceleration time, servo parameter, etc.
Operating restrictions
• The fast home position return can only be executed after the home position is established by executing the machine home
position return. If not, the error "Home position return request ON" (error code: 1A45H) will occur. (Home position return
request flag ([Md.31] Status: b3) must be turned OFF).
• If the fraction pulse is cleared to zero using current value changing or fixed-feed control, execute the fast home position
return and an error will occur by a cleared amount.
• When unlimited length feed is executed by speed control and the machine feed value overflows or underflows once, the
fast home position return cannot be executed normally.
• The home position return complete flag ([Md.31] Status: b4) is not turned ON.
• The axis operation status during fast home position return is "in position control".
2 HOME POSITION RETURN CONTROL
40
2.3 Fast Home Position Return
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t1
Standby Position control
t2
*1
t1
0.25 to 0.69
0.38 to 0.84
0.60 to 1.50
0.74 to 2.60
0.77 to 4.50
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t3
Standby
*2
t2
1.12 to 1.54
1.57 to 1.61
3.58 to 3.84
7.56 to 7.59
14.81 to 15.33
t3
0.00 to 0.25
0.00 to 0.50
0.00 to 1.00
0.00 to 2.00
0.00 to 4.00