Mitsubishi Electric RD77MS4 - Page 116

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3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
Operation timing and processing time
• The t1 timing time could be delayed by the operation state of other axes.
• When using the near-point dog signal or "[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
[RD77MS4 operation example]
Positioning start signal [Y10,Y11,Y12,Y13]
BUSY signal [X10,X11,X12,X13]
Standby Speed control Standby
[Md.26] Axis operation status
[Cd.7] M code OFF request
Start complete signal ([Md.31] Status: b14)
Positioning operation
Positioning complete signal
([Md.31] Status: b15)
M code ON signal (AFTER mode)
([Md.31] Status: b12)
[Cd.7] M code OFF request
t1
t2
t3
t4
t5
t2
t7
Position
control
Speed
control
Position
control
Speed-position switching command
[Cd.23] Speed-position switching control
movement amount change register
t6
*Speed control is carried out until speed-position switching
signal turns ON.
Position control movement amount is from the input position of
the external speed-position switching signal.
Home position return complete flag
([Md.31] Status: b4)
M code ON signal (WITH mode)
([Md.31] Status: b12)