Mitsubishi MELSEC-Q QD77MS, Руководство пользователя

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Chapter 8 OPR Control
Operation timing and processing time of fast OPR
The following shows details about the operation timing and time during fast OPR.
[QD77MS4 operation example]
t1
t3
t2
Position control
Standby Standby
Positioning start
signal
BUSY signal
Start complete signal
Positioning operation
Md.26 Axis operation status
[Y10,Y11,Y12,Y13]
[X10,X11,X12,X13]
[XC,XD,XE,XF]
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
Fig. 8.14 Operation timing and processing time of fast OPR
Normal timing time Unit: [ms]
Operation cycle t1 t2 t3
QD77MS2
QD77MS4
0.88 0.2 to 0.3 1.8 to 2.7 0 to 0.9
0.88 0.3 to 1.4 1.8 to 2.7 0 to 0.9
QD77MS16
1.77 0.3 to 1.4 3.2 to 3.9 0 to 1.8
• The t1 timing time could be delayed by the operation state of other axes.
Operating restrictions
(1) The fast OPR can only be executed after the OP position is established by
executing the Machine OPR.
If not, the error "OPR request ON" (error code: 207) will occur.
(OPR 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 OPR and an error will occur by a cleared amount.
(3) When unlimited length feed is executed by speed control and the machine feed
value overflows or underflows once, the fast OPR cannot be executed
normally.
(4) The OPR complete flag (
Md.31
Status: b4
) is not turned ON.
(5) The axis operation status during fast OPR is "in position control".