Mitsubishi Electric MELSEC-Q Series - Page 564

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