Mitsubishi Electric MELSEC Q Series, User Manual

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Chapter 8 HPR Control
Operation timing and processing time of fast HPR
The following shows details about the operation timing and time during fast HPR.
t1
t3
t2
Position control
Standby
Standby
Md.31 Status: b14
( )
Start complete signal
Positioning operation
Md.26 Axis operation status
Positioning start signal
[Y10 to Y1F]
BUSY signal
[X10 to X1F]
Fig. 8.14 Operation timing and processing time of fast HPR
Normal timing time Unit: [ms]
[Pr.132] Communication
mode setting
Operation
cycle
t1 t2 t3
MR-J4-B-RJ010
communication mode
0.88 0.7 to 1.5 3.1 to 4.8 0 to 0.9
1.77 0.8 to 1.9 4.4 to 6.8 0 to 1.8
3.55 1.0 to 3.6 10.8 to 13.5 0 to 3.6
Communication mode
correspond to CiA402
1.00 0.9 to 1.8 3.1 to 4.8 0 to 1.0
2.00 0.9 to 2.6 5.5 to 6.8 0 to 2.0
4.00 1.2 to 4.8 11.5 to 13.5 0 to 4.0

The t1 timing time could be delayed by the operation state of other axes.
Operating restrictions
(1) The fast HPR can only be executed after the HP is established by executing
the Machine HPR.
If not, the error "HPR request ON" (error code: 207) will occur.
(HPR request flag ([Md.31] Status: b3) must be turned OFF).
(2) If the fraction pulse is cleared to zero using current value changing or fixed-
feed control, execute the fast HPR and an error will occur by a cleared amount.
(3) When unlimited length feed is executed by speed control and the feed machine
value overflows or underflows once, the fast HPR cannot be executed normally.
(4) The HPR complete flag ([Md.31] Status: b4) is not turned ON.
(5) The axis operation status during fast HPR is "in position control".