Mitsubishi Electric MELSEC-Q Series User Manual page 346

Machine HPR operation timing and process time
Positioning start
[Y10 to Y1F]
signal
[X10 to X1F]
BUSY signal
Start complete signal
( Md. 31 Status: b14)
Md. 26 Axis operation status
Positioning operation
HPR request flag
( Md. 31 Status: b3)
HPR complete flag
( Md. 31 Status: b4)
Fig. 6.9 Machine HPR operation timing and process time
Normal timing time
MR-J4-B-RJ010
communication
mode
Communication
mode correspond
to CiA402
 The t1 timing time could be delayed depending on the operating conditions of the
other axis.
Chapter 6 Sequence Program Used for Positioning Control
t1
Standby HPR
t2
[Pr.132]
Operation cycle
Communication
mode setting
t4
Standby
t3
t1
0.88 0.7 to 1.6
1.77 1.1 to 2.5
3.55 1.1 to 4.2
1.00 1.0 to 1.7
2.00 1.1 to 2.8
4.00 1.9 to 4.7
6 - 64
t2 t3
7.1 to 10.3 0 to 0.9
7.1 to 10.3 0 to 1.8
9.0 to 14.0 0 to 3.6
7.1 to 10.5 –
14.9 to 17.7 –
29.0 to 33.2 –
Unit: [ms]
t4
0 to 0.9
0 to 1.8
0 to 3.6
0 to 1.0
0 to 2.0
0 to 4.0