3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
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3
Operation timing and processing time
■RD77MS4 operation example
• The t1 timing time could be delayed by the operation state of other axes.
• When using the near-point 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
cycle
Normal timing time Unit: [ms]
t1 t2 t3 t4 t5 t6 t7
0.444 0.316 to 1.366 0.000 to 0.444 0.000 to 0.444 0.503 to 1.599 0.000 to 0.444 0.346 Follows parameters
0.888 0.316 to 1.366 0.000 to 0.888 0.000 to 0.888 2.195 to 3.064 0.000 to 0.888 0.346 Follows parameters
1.777 0.316 to 1.366 0.000 to 1.777 0.000 to 1.777 3.798 to 4.459 0.000 to 1.777 0.348 Follows parameters
3.555 0.316 to 1.366 0.000 to 3.555 0.000 to 3.555 5.630 to 7.984 0.000 to 3.555 0.348 Follows parameters
BUSY signal [X10, X11, X12, X13]
M code ON signal
([Md.31] Status: b12)
(WITH mode)
Standby
Speed control
Standby[Md.26] Axis operation status
[Cd.7] M code OFF request
Start complete signal
([Md.31] Status: b14)
Positioning operation
t1
t2
t3
t4
Position control
Speed
control
Position
control
Speed-position switching command
t6
*Speed control is carried out until speed-position switching
signal turns ON.
Positioning complete signal
([Md.31] Status: b15)
[Cd.7] M code OFF request
t5
t2
t7
Positioning start signal
[Y10, Y11, Y12, Y13]
Home position return complete flag
([Md.31] Status: b4)
M code ON signal
([Md.31] Status: b12)
(AFTER mode)
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