Mitsubishi Electric MELSEC-Q Series User Manual page 347

Position control operation timing and process time
Positioning start signal
[Y10 to Y1F]
[X10 to X1F]
BUSY signal
M code ON signal (WITH mode)
( Md. 31 Status: b12)
Cd. 7 M code OFF request
Start complete signal
( Md. 31 Status: b14)
Md. 26 Axis operation status
Positioning operation
Positioning complete signal
( Md. 31 Status: b15)
M code ON signal (AFTER mode)
( Md. 31 Status: b12)
Cd. 7 M code OFF request
HPR complete flag
( Md. 31 Status: b4)
Fig. 6.10 Position control operation timing and process time
When the positioning start signal turns ON, if the "positioning complete signal" or
"HPR complete flag" are already ON, the "positioning complete signal" or "HPR
complete flag" will turn OFF when the positioning start signal turns ON.
Normal timing time
[Pr.132]
Communication
mode setting
MR-J4-B-RJ010
communication
mode
Communication
mode correspond
to CiA402
Chapter 6 Sequence Program Used for Positioning Control
t1
t2
Standby Position control
t4
Operation
cycle
0.88 0.8 to 1.5 0 to 0.9
1.77 1.1 to 2.5 0 to 1.8
3.55 1.1 to 4.2 0 to 3.6
1.00 0.9 to 1.7 0 to 1.0
2.00 1.1 to 2.8 0 to 2.0
4.00 2.2 to 4.2 0 to 4.0
 The t1 timing time could be delayed depending on the operating conditions of
the other axis.
t3
Standby
t5
t6
t2
t1 t2 t3
0 to 0.9
0 to 1.8
0 to 3.6
0 to 1.0
0 to 2.0
0 to 4.0
6 - 65
t4 t5
2.5 to 3.2 0 to 0.9
parameters
5.6 to 6.9 0 to 1.8
parameters
10.8 to
0 to 3.6
13.8 parameters
2.5 to 3.2 0 to 1.0
parameters
5.6 to 6.9 0 to 2.0
parameters
11.5 to
0 to 4.0
13.8 parameters
Unit: [ms]
t6
Follows
Follows
Follows
Follows
Follows
Follows