Mitsubishi Electric MELSEC Q Series Programming Manual page 564

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 (CHGVS) from the
Command
Motion SFC
generation axis
Dedicated instruction
speed change
(D(P).CHGVS) from the PLC
response time
CPU
Instruction (CHGT) from the
Torque limit value
Motion SFC
change response
Dedicated instruction
time
(D(P).CHGT) from the PLC CPU
Instruction (CHGT2) from the
Motion SFC
Torque limit value
individual change
Dedicated instruction
response time
(D(P).CHGT2) from the PLC
CPU
Target position
Instruction (CHGP) from the
change response
Motion SFC
time
Time from PLC ready flag (M2000) ON to
PCPU READY complete flag (SM500) ON
(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.)
(a) Q173DSCPU/Q172DSCPU
0.6 to 0.9
1.4 to 2.3
0.4 to 0.9
1.4 to 2.3
0.4 to 0.9
1.4 to 2.3
0.4 to 0.9
1.4 to 2.3
0.4 to 0.9
1.4 to 2.3
0.4 to 0.9
(Note-1): FEED instruction varies greatly depending on the condition (whether other axes are operating).
Q173DSCPU/Q172DSCPU
0.22 0.44 0.88
0.44 0.88 1.77
1.0 to 1.4 1.9 to 2.8
2.2 to 3.1 3.5 to 4.4
0.8 to 1.3 1.7 to 2.6
1.7 to 2.6 2.6 to 3.5
0.8 to 1.3 1.7 to 2.6
1.7 to 2.6 2.6 to 3.5
0.8 to 1.3 1.7 to 2.6
1.7 to 2.6 2.6 to 3.5
0.8 to 1.3 1.7 to 2.6
1.7 to 2.6 2.6 to 3.5
0.8 to 1.3 1.7 to 2.6
APP - 73
1.77 3.55
2.66 4.44
2.8 to 4.6 4.6 to 8.2
5.3 to 6.2 8.8 to 9.7
2.6 to 4.4 4.4 to 8.0
3.5 to 4.4 5.3 to 6.2
2.6 to 4.4 4.4 to 8.0
3.5 to 4.4 5.3 to 6.2
2.6 to 4.4 4.4 to 8.0
3.5 to 4.4 5.3 to 6.2
2.6 to 4.4 4.4 to 8.0
3.5 to 4.4 5.3 to 6.2
2.6 to 4.4 4.4 to 8.0
44 to 60
7.11
7.99
8.1 to 15.2
16.0 to 16.9
8.0 to 15.1
8.9 to 9.8
8.0 to 15.1
8.9 to 9.8
4.4 to 11.5
5.3 to 9.7
4.4 to 11.5
5.3 to 9.7
8.0 to 15.1