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Chapter 6 Sequence Program Used for Positioning Control
Machine OPR operation timing and process time
[QD77MS4 operation example]
BUSY signal
Standby OPR Standby
Positioning operation
t1
t4
t2
t3
Md. 26 Axis operation status
OPR request flag
( Md. 31 Status: b3)
Positioning start
signal
[Y10, Y11, Y12, Y13]
[XC, XD, XE, XF]
Start complete signal
[X10, X11, X12, X13]
OPR complete flag
( Md. 31 Status: b4)
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
Fig. 6.9 Machine OPR operation timing and process time
Normal timing time Unit: [ms]
Operation cycle t1 t2 t3 t4
QD77MS2
0.88 0.2 to 0.3 1.8 to 2.7 0 to 0.9 0 to 0.9
1.77 0.2 to 0.3 2.7 to 3.9 0 to 1.8 0 to 0.9
QD77MS4
0.88 0.2 to 0.3 1.8 to 2.7 0 to 0.9 0 to 0.9
1.77 0.2 to 0.3 2.7 to 3.9 0 to 1.8 0 to 0.9
QD77MS16
0.88 0.3 to 1.4 1.8 to 2.7 0 to 0.9 0 to 0.9
1.77 0.3 to 1.4 3.2 to 3.9 0 to 1.8 0 to 1.8
The t1 timing time could be delayed depending on the operating conditions of the
other axis.