Mitsubishi FX2N-10GM, Hardware / Programming Manual

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FX Series Positioning Controllers Program format 5
5-8
Positioning instructions (Instructions generating pulses are described in "Startup time" below.)
Startup time
Period of time after a start signal is input until a pulse is output (including input filter time of 3 ms)
*1 When repeated: 5.0/8.0
When only address is changed (without changing speed): 8.0/11.0
During operation at multi-step speed: 24.0/28.0
*2 When M9015 is ON: 120 + 30N (N = Number of times of continuous passes)
*3 When M9015 is ON: 120 + 50N (N = Number of times of continuous passes)
*4 When M9015 is ON: 120 + 30N (N = Number of times of continuous passes)
*5 When the m code is output to the outside (including the transistor output response time of
0.2 ms)
• The startup time shown above indicates the period of time when operation is actuated by
start input.
When operation is actuated by the TO instruction from the PLC or a subtask, the input filter
time (3 ms) should be subtracted from and the execution time of a started instruction (TO
instruction: 94.1 + 556.7n
µ
s, [D]TO instruction: 96.3 + 1098.6n
µ
s, "n" = number of transfer
points) should be added to the value shown above.
Table 5.4: Positioning instructions [Unit: ms]
FX
2N
-10GM FX
2N
-20GM
Motor system Mechanical system Motor system Mechanical system
cod29(SETR) 1.0 1.9 1.8 1.8
cod73(MOVC) 0.5 0.5 1.8 1.8
cod74(CNTC)
 
1.8 1.8
cod75(RADC)
 
1.8 1.8
cod76(CANC) 0.5 0.5 1.8 1.8
cod90(ABS) 0.5 0.5 1.8 1.8
cod91(INC) 0.5 0.5 1.8 1.8
cod92(SET) 0.6 2.3 2.4 9.0
Table 5.5: Startup time
[Unit: ms]
FX
2N
-10GM FX
2N
-20GM
Motor
system
Mechanical
system
First
time
Motor
system
Mechanical
system
First
time
cod00(x) 13.0 17.0 +3.0 *1 20.0 30.0 +10.0
cod00(x, y) 30.0 50.0 +20.0
cod01 13.0 17.0 +3.0 140.0 150.0 +10.0 *2
cod02/cod03
 
155.0 165.0 +10.0 *3
cod28 12.0 18.0 +4.0 30.0 40.0 +0
cod30 12.0 16.0 +4.0 25.0 38.0 +20.0
cod31 13.0 18.0 +3.0 140.0 150.0 +10.0 *4
cod71 12.0 15.0 +5.0 20.0 30.0 +10.0
cod72 22.0 27.0 +4.0 25.0 35.0 +15.0
cod04(TIM) 0.5 0.5 1.8 1.8
after m 3.5 3.5 *5 1.5 1.5 *5
Current
value update
0.6 1.4 1.2 2.8