Yaskawa MP940 - Manual (Page 58)

3.3 Scan Processing
3-11
3
3.3.2 S Scan Details
The following diagram shows the internal processing and order of processing of an S scan.
„ Items Always Completed within S Scan
„ Timesharing Items
C
N
T
R
L
I
O
HS SS BG
R
I
O
C
O
M
R
I
O SA HA LA
S scan cycle (0.5, 1.0, 2.0, or 4.0 ms)
Required
(always completed within scan)
With time limit
(If not completed within 1 scan,
will be executed in next scan.)
Remain-
der
Timer
Back-
ground
pro-
cessing
C
N
T
R
L
I
O
HS SS SA
S-scan application (DWG.S)
S-scan system processing
(SVA control loop, etc.)
H-scan system processing (SVA acceleration/
deceleration processing, etc.) (Executed once for
each H scan cycle.)
Local I/O processing (DI/DO/AI/AO)
R
I
O
C
O
M
R
I
O HA LA
L-scan application (DWG.L)
H-scan application (DWG.H)
Distributed I/O (MECHATROLINK)
processing (synchronized to either
H or L scan)
Serial communications