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Chapter 6 Sequence Program Used for Positioning Control
Position control operation timing and process time
[QD77MS4 operation example]
t1
t2
t3
t4
t5
t2
t6
Cd. 7 M code OFF request
Standby Position control Standby
BUSY signal
Positioning operation
Md. 26 Axis operation status
Cd. 7 M code OFF request
Positioning start signal
[Y10, Y11, Y12, Y13]
[XC, XD, XE, XF]
M code ON signal
(WITH mode) [X4, X5, X6, X7]
Start complete signal
[X10, X11, X12, X13]
M code ON signal
(AFTER mode)
[X4, X5, X6, X7]
[X14, X15, X16, X17]
Positioning complete signal
OPR complete flag
( Md. 31 Status: b4)
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
Fig. 6.10 Position control operation timing and process time
When the positioning start signal turns ON, if the "positioning complete signal" or
"OPR complete flag" are already ON, the "positioning complete signal" or "OPR
complete flag" will turn OFF when the positioning start signal turns ON.
Normal timing time Unit: [ms]
Operation
cycle
t1 t2 t3 t4 t5 t6
QD77MS2
0.88 0.2 to 0.3 0 to 0.9 0 to 0.9 1.8 to 2.7 0 to 0.9 Follows parameters
1.77 0.2 to 0.3 0 to 1.8 0 to 1.8 2.5 to 3.9
0 to 1.8
Follows parameters
QD77MS4
0.88 0.2 to 0.3 0 to 0.9 0 to 0.9 1.8 to 2.7
0 to 0.9
Follows parameters
1.77 0.2 to 0.3 0 to 1.8 0 to 1.8 2.5 to 3.9
0 to 1.8
Follows parameters
QD77MS16
0.88 0.3 to 1.4 0 to 0.9 0 to 0.9 1.8 to 2.7 0 to 0.9 Follows parameters
1.77 0.3 to 1.4 0 to 1.8 0 to 1.8 3.2 to 3.9 0 to 1.8 Follows parameters
The t1 timing time could be delayed depending on the operating conditions of
the other axis.