Processing Time Of Motion Dedicated Plc Instruction - Mitsubishi Electric R16MTCPU Programming Manual

Processing time of Motion dedicated PLC instruction

Classifications Instruction (Condition)
Motion dedicated Start request of the specified Motion SFC program
PLC instruction
Start request of the specified servo program
Direct positioning start request (data points = 14 points)
Current value change request of the specified axis
Current value change request of the specified command generation
axis
Speed change request of the specified axis
Speed change request of the specified command generation axis
Torque control value change request of the specified axis
Machine program operation start request (data points = 78 points)
Write bit operation to the bit device of another Motion CPU
Execute request of an event task of Motion SFC program
APPENDICES APPENDIX
334
Appendix 1 Processing Times
Symbol Processing time [µs]
R04CPU/R08CPU/R16CPU/R32CPU/
R120CPU/R08PCPU/R16PCPU/
R32PCPU/R120PCPU
Min.
D.SFCS 38.0
M.SFCS 29.0
D.SVST 48.0
M.SVST 38.0
D.SVSTD 62.0
M.SVSTD 57.0
D.CHGA 48.0
M.CHGA 39.0
D.CHGAS 48.0
M.CHGAS 38.0
D.CHGV 48.0
M.CHGV 38.0
D.CHGVS 48.0
M.CHGVS 38.0
D.CHGT 48.0
M.CHGT 39.0
D.MCNST 55.0
M.MCNST 45.0
D.BITWR 47.0
M.BITWR 38.0
D.GINT 40.0
M.GINT 31.0
Max.
77.0
68.0
86.0
76.0
99.0
91.0
86.0
74.0
86.0
75.0
86.0
75.0
86.0
75.0
86.0
76.0
83.0
73.0
84.0
74.0
77.0
68.0