Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 431)

11.5 Bank Switching Function
11.5.1 Bank Switching Specifications
11-16
11.5 Bank Switching Function
Prior to use the Bank Switching function, register multiple types of SERVOPACK parameters (Bank Members) in one
group as a Parameter Bank, and register multiple combinations of different set values of Bank Members. The Bank
Switching function switches all the set values of Bank Members at once by selecting a combination of set values using
the setting parameter Bank Selector (OW
04, bits C to F).
To enable the MP2000-series SVB Module to use the Bank Switching function, the related SERVOPACK parameters
must be set in advance so that the SERVOPACK can use the Bank Switching function.
The Bank Switching function can be used with the following versions.
Built-in SVB: Version 2.46 or later
SVB-01: Version 1.18 or later
MPE720: Version 5.33B or later
SGDS-
1 : MECHATROLINK communication interface version 0011 or later
11.5.1 Bank Switching Specifications
There is no motion parameter to select whether or not to use the Bank Switching function. When the communications
between the SVB Module and SERVOPACK is established, the SVB Module reads the settings of model, version num-
ber, and related SERVOPACK parameter settings and automatically determines the availability of the Bank Switching
function. When the Bank Switching function is available, the values of the setting parameter Bank Selector
(OW
04, bits C to F) will be sent to servo by executing the MECHATROLINK servo command. When it is not
available, the set values of Bank Selector will be ignored.
Refer to 4.4.2 ( 5 ) Function Setting 2 for details on the setting parameter Bank Selector.
Refer to 11.5.4 Bank Member Setting for information on the related parameters.
11.5.2 Bank Switching Function Unsupported Motion Commands
The parameter Bank Selector is reported using the MECHATROLINK servo command option field. While the follow-
ing MECHATROLINK commands are executed, the MECHATROLINK servo commands that have no option fields
are issued. Therefore the setting of Bank Selector will not be reflected.
11.5.3 SERVOPACK Parameter Settings for Bank Switching
Set the SERVOPACK parameters as shown in the following table and change the allocation of optional bits of
MECHATROLINK servo commands to use the Bank Switching function. These settings will allocate BANK_SEL1 to
bits 0 to 3 and ACCFIL to bits 10 and 11. The SVB Module reads the allocations and determines the availability of
Bank Switching function.
After changing the settings, turn OFF the power to the SERVOPACK and then turn ON again to validate the settings.
Set the parameters exactly as shown in the above table. If not, the operation will not be guaranteed.
NOP,
ZSET,
ACC,
DCC,
SCC,
CHG_FILTER, KVS,
KPS,
KFS,
PRM_RD,
PRM_WR,
ALM_MON, ALM_HIST,
ALMHIST_CLR,
ABS_RST,
KIS,
MLTTRN_SET
Parameter No.
Setting
When Using Bank Switching Function When Not Using Bank Switching Function
Pn81F 0001H 0000H
Pn82A 181AH 1813H
Pn82B 1D1CH 1D1CH
Pn82C 1F1EH 1F1EH
Pn82D 0010H 0000H
Pn82E 0000H 0000H