Mitsubishi Electric MELSEC iQ-R Series User Manual page 278

■ When using the PLCopen Motion control FB mode
• In addition to the communication cycle intervals, the operation cycle requires consideration as well. For each operation
cycle and number of controllable axes, refer to "Operation Cycle" of the following manual.
MELSEC iQ-R Motion Module User's Manual (Application)
• The operation formulas support the communication cycle interval setting of 125.00μs or longer. If it is set to 31.25μs and
62.50μs, the operation formulas cannot be applied. The following table lists the numbers of connectable device stations
when 31.25μs or 62.50μs is set.
Communication cycle interval
31.25 s
62.50 s
• For the number of connectable axes with the communication cycle interval of 31.25μs and 62.50μs, refer to "Operation
Cycle" of the following manual.
MELSEC iQ-R Motion Module User's Manual (Application)
For 31.25μs and 62.50μs, the referential values of cyclic transmission time, system reservation time, and transient
transmission time are as follows. Adjustment may be required depending on the using environment.
Communication cycle interval
31.25 s
62.50 s
■ When using the Simple Motion mode
• For the motion control stations, set the numbers of points of RWw and RWr as follows.
Extension remote station
Non-extension remote station
• In addition to the communication cycle intervals, the operation cycle requires consideration as well. For each operation
cycle and number of controllable axes, refer to "PROCEDURES BEFORE OPERATIONS" in PART 2 of the following
manual.
MELSEC iQ-R Motion Module User's Manual (Startup)
Condition
This section shows the calculation formulas for the communication cycle interval in the following conditions (If the main
modules and extension modules are not specified in the descriptions of the variables in the calculation formulas for the
communication cycle interval, the number of points to be set is the sum of main modules and extension modules).
Item
Main module
Extension module
Local station
*1
Remote station
*1
Device station
*1 Extension modules are not included.
APPX
276
Appendix 6 Processing Time
RD78G

1 station
Cyclic transmission time
10.00 s
20.00 s
RWw
24
40
Module No.
No.1, No.2, No.4
No.3, No.5, No.6, No.7
No.1
No.2, No.4
No.1, No.2, No.4
RD78GH
2 stations
4 stations
System reservation time
7.00 s
20.00 s
RWr
27
40
Number of modules
3
4
1
2
3
Transient transmission time
14.25 s
22.50 s
Remarks
Assign a point to each module,
including the start module