Mitsubishi Electric MELSEC-Q Series User Manual page 511

Positioning start signal
[Y10 to Y1F]
BUSY signal
[X10 to X1F]
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
Position-speed switching command
Position-speed switching
Cd.25
control speed change register
Positioning complete signal
( Md.31 Status: b15)
HPR complete flag
( Md.31 Status: b4)
Cd.180 Axis stop
Fig. 9.19 Operation timing and processing time during position-speed switching control
Normal timing time
[Pr.132]
Communication
mode setting
MR-J4-B-RJ010
communication
mode
Communication
mode correspond
to CiA402

The t1 timing time could be delayed by the operation state of other axes.
 When using the proximity dog signal and "[Cd.46] Speed-position switching command", the
t6 timing time could be delayed or vary influenced by the PLC scan time or communication
with servo amplifier.
Operation timing and processing time during position-speed switching
control
t1
Standby
Position control
t4
Operation
t1
cycle
0.88 1.0 to 1.7
1.77 1.1 to 2.5
3.55 1.1 to 4.2
1.00 1.0 to 1.9
2.00 1.1 to 2.6
4.00 1.1 to 4.2
t2
Speed control
Position Speed
control control
Position control carried out until position-speed switching
signal turns ON.
Speed control command speed is from the input position of
the external position-speed switching signal.
t6
t2 t3
0 to 0.9 0 to 0.9
0 to 1.8 0 to 1.8
0 to 3.6 0 to 3.6
0 to 1.0 0 to 1.0
0 to 2.0 0 to 2.0
0 to 4.0 0 to 4.0
9 - 111
Chapter 9 Major Positioning Control
t3
Stopped
t4 t5
2.7 to 3.4 –
5.6 to 6.9 –
10.8 to 14.0 –
2.7 to 3.4 –
5.6 to 6.9 –
11.4 to 14.0 –
Unit: [ms]
t6
0.1 to 0.2
0.1 to 0.2
0.1 to 0.2
0.1 to 0.2
0.1 to 0.2
0.1 to 0.2