Yaskawa MP3200iec User Manual
Page 37
15 MECHATROLINK-III Synchronization between Modules
YASKAWA America, Inc. MP3200iec Hardware Manual YAI-SIA-IEC-5
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15
MECHATROLINK-III Synchronization between Modules
Communications Cycle and the Number of Slave Stations
The relationship between the MECHATROLINK communications cycle and the number of slave stations is given in the
following tables.
Cascaded Connections
Star Connections
Mixed Cascaded/Star Connections
Note: The above connection conditions assume that the following conditions are met: Number of transmission bytes: 48, Distance
between stations: 100 m., Number of retries: 1.
NOTICE: If the SigmaWin+ is connected through a Machine Controller, the SigmaWin+ may not be usable if there are too many
SERVOPACK stations connected. If this occurs, either connect the SigmaWin+ to the SERVOPACK (CN7) directly, or increase the
communications cycle.
Communications
Cycle
Number of Connected
Stations
Connection Conditions
125
μs
1 to 3
–
250
μs
1 to 7
–
500
μs
1 to 12
–
1 ms
1 to 21
–
1.5 ms
1 to 27
–
2 ms
1 to 32
–
3 ms
1 to 38
If more than 32 stations are connected, two ports must be used.
No more than 32 stations can be connected to a single port.
4 ms
1 to 62
If no more than 32 stations are connected, two ports must be used.
No more than 32 stations can be connected to a single port.
Communications Cycle
Number of Connected Stations
125
μs
1 to 4
250
μs
1 to 8
500
μs
1 to 14
1 ms
1 to 32
1.5 ms
1 to 62
2 ms
1 to 62
3 ms
1 to 62
4 ms
1 to 62
Communications Cycle
Number of
Connected Stations
Connection Conditions
125
μs
1 to 4
Only star connections can be used.
250
μs
1 to 8
A single cascaded connection series must consist of no more than 2 stations.
500
μs
1 to 14
A single cascaded connection series must consist of no more than 6 stations.
1 ms
1 to 29
A single cascaded connection series must consist of no more than 7 stations.
1.5 ms
1 to 42
A single cascaded connection series must consist of no more than 8 stations.
2 ms
1 to 42
A single cascaded connection series must consist of no more than 16 stations.
3 ms
1 to 42
A single cascaded connection series must consist of no more than 18 stations.
4 ms
1 to 62
A single cascaded connection series must consist of no more than 21 stations.