Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 532)

Appendix I Servo Driver Transmission Reference Mode
I.6 Precautions When Using Servo Driver Transmission Reference Mode
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Appendices
I.6 Precautions When Using Servo Driver Transmission Reference Mode
• Note that the response to a MECHATROLINK servo command will be delayed because of the delay in the
MECHATROLINK communications.
For example, when sending a move command such as POSING for the axis being stopped, it will take some time
for the Commanded Profile Complete bit to turn OFF. Wait the following number of scans to monitor the
response data to the MECHATROLINK servo command.
When High-speed scan set time < MECHATROLINK communication cycle × 3
Number of scans (rounded up to the nearest integer) =
MECHATROLINK communication cycle
× 7 ÷ High-speed scan set time
When MECHATROLINK communication cycle × 3 ≤ High-speed scan set time ≤ MECHATROLINK com-
munication cycle × 6
Number of scans (rounded up to the nearest integer) =
MECHATROLINK communication cycle
× 6 ÷ High-speed scan set time + 1
When High-speed scan set time > MECHATROLINK communication cycle × 6
Number of scans = 1
• Always set the Interpolation Segment Distribution Processing bit (fixed parameter No. 1 Function Selection Flag
1, bit 8) to 0 (enabled) when using an interpolation MECHATROLINK servo command, INTERPOLATE or
LATCH.
If this bit is set to 1 (disabled), interpolation segment distribution per MECHATROLINK communication cycle
will not be constant, though that per high-speed scan will be constant. As a result, the speed waveform will be
disordered.
• Precaution on operation of MPE720 parameter windows of MECHATROLINK compatible servos
Current value reading, writing, and saving operations are allowed only when the MECHATROLINK servo com-
mand NOP is set. The operations in parameter windows are disabled while any command other than NOP is
being executed.