Mitsubishi Electric Q Series, Руководство по программированию

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APP - 64
APPENDICES
APPENDIX 3 Processing Times of the Motion CPU
The processing time of each signal and each instruction for positioning control in the
Multiple CPU system is shown below.
(1) Motion operation cycle [ms] (Default)
(a) Q173DSCPU/Q172DSCPU
Q173DSCPU Q172DSCPU
Number of setting axes (SV22) 1 to 6 7 to 16 17 to 32 1 to 6 7 to 16
Operation cycle [ms] 0.44 0.88 1.77 0.44 0.88
(b) Q173DCPU(-S1)/Q172DCPU(-S1)
Q173DCPU(-S1) Q172DCPU(-S1)
Number of setting axes (SV22) 1 to 4 5 to 12 13 to 28 29 to 32 1 to 4 5 to 8
Operation cycle [ms] 0.44 0.88 1.77 3.55 0.44 0.88
(2) CPU processing time [ms]
The instruction processing time means the time until the content is reflected to
servo amplifier side after each instruction is executed.
(Including the transmission time between Motion controller and servo amplifier.)
(a) Q173DSCPU/Q172DSCPU
Q173DSCPU/Q172DSCPU
Operation cycle [ms] 0.22 0.44 0.88 1.77 3.55 7.11
"WAIT ON/OFF"
+ Motion control step
0.44 0.88 1.77 2.66 4.44 7.99
Only Motion control step 0.6 to 0.9 1.0 to 1.4 1.9 to 2.8 2.8 to 4.6 4.6 to 8.2 8.1 to 15.2
Servo program
start processing
time
(Note-1)
Dedicated instruction
(D(P).SVST) from the PLC CPU
1.4 to 2.3 2.2 to 3.1 3.5 to 4.4 5.3 to 6.2 8.8 to 9.7 16.0 to 16.9
Instruction (CHGV) from the
Motion SFC
0.4 to 0.9 0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 8.0 to 15.1
Speed change
response time
Dedicated instruction
(D(P).CHGV) from the PLC CPU
1.4 to 2.3 1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 8.9 to 9.8
Instruction (CHGT) from the
Motion SFC
0.4 to 0.9 0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 4.4 to 11.5 Torque limit value
change response
time
Dedicated instruction
(D(P).CHGT) from the PLC CPU
1.4 to 2.3 1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 5.3 to 9.7
Instruction (CHGT2) from the
Motion SFC
0.4 to 0.9 0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 4.4 to 11.5
Torque limit value
individual change
response time
Dedicated instruction
(D(P).CHGT2) from the PLC
CPU
1.4 to 2.3 1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 5.3 to 9.7
Target position
change response
time
Instruction (CHGP) from the
Motion SFC
0.4 to 0.9 0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 8.0 to 15.1
Time from PLC ready flag (M2000) ON to
PCPU READY complete flag (SM500) ON
44 to 60
(Note-1): FEED instruction varies greatly depending on the condition (whether other axes are operating).