3 ) timing at which modules are synchronized – Yaskawa MP2200 Machine Controller User Manual
Page 42
1 Motion Module Overview
1.2.6 Synchronization between Modules
1-8
( 2 ) Conditions Under Which Synchronization Is Possible
"Yes" in the following table indicates combinations for which synchronized mode is used for
operation.
( 3 ) Timing At Which Modules Are Synchronized
Modules are automatically synchronized when the power supply is turned ON.
( 4 ) Operation when High-speed Scan Cycle Is Changed
MECHATROLINK communication for the SVB-01 will automatically continue even if the high-
speed scan cycle is changed.
Distribution of position reference segments for interpolation commands from the high-speed scan to
the communication cycle, however, will be affected, causing disturbance in the speed waveform.
When changing the high-speed scan cycle, do so either with the CPU stopped or when motion
commands are not being executed.
Change the high-speed scan setting and then save the settings to flash memory and turn the power
supply OFF and ON when operation changes from synchronized to asynchronized or from
asynchronized to synchronized.
( 5 ) Operation When the MECHATROLINK Communication Cycle Is Changed
■
Changing the MECHATROLINK Communication Cycle of the SVB in the CPU
Synchronization may be lost when a change is made even if synchronization is possible for the high-
speed scan and communication cycle combination. When a change is made, save the settings to flash
memory and then turn the power supply OFF and ON.
■
Changing the MECHATROLINK Communication Cycle of the SVB-01 Module
Operation will be automatically synchronized when a change is made if synchronization is possible
for the high-speed scan and communication cycle combination. It is not necessary to turn the power
supply OFF and ON.
High-speed scan
(RTC: 0.5 ms)
MECHATROLINK Communication Cycle
0.5 ms
1 ms
1.5 ms
2 ms
1.0 ms
Yes
Yes
−
Yes
1.5 ms
Yes
−
Yes
−
2.0 ms
Yes
Yes
−
Yes
2.5 ms
Yes
−
−
−
3.0 ms
Yes
Yes
Yes
−
3.5 ms
Yes
−
−
−
4.0 ms
Yes
Yes
−
Yes
4.5 ms
Yes
−
Yes
−
5.0 ms
Yes
Yes
−
−
5.5 ms
Yes
−
−
−
6.0 ms
Yes
Yes
Yes
Yes
: