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