Precautions When Setting Or Changing The Scan Time - YASKAWA MP210 Series User Manual

5 Outline of Motion Control Systems

5.5.3 Precautions when Setting or Changing the Scan Time

5.5.3 Precautions when Setting or Changing the Scan Time
Scan time can be set or changed in the following window.
<When Using MPE720 Ver 6.>
Scan Time Setting (Select File - Environment Setting - Setup - Scan Time Setting from the menu bar.)
<When Using MPE720 Ver 5.>
Scan Time Setting (Double-click Scan Time Setting in the Definition Folder in the File Manager window.)
Observe the following precautions when setting or changing the scan time.
• Set the set values of the scan time for both the high-speed (H) and low-speed (L) scans to at least the max-
imum time required to execute the scans. Use the following formula to calculate the scan.
(set value − maximum time to execute scan) ≥ (0.2 × set values of the scan time)
The set values of the scan time should be to at least 1.25 times greater than the maximum time required for
the scan.
Note: If the scan time is set too close to the maximum execution time for the scan, the refresh time for the
• Set the set values of the high-speed (H) and low-speed (L) scan time to an integral multiple of the
MECHATROLINK communication cycle (1 or 2 ms) set in the MP2100. Always check the set values of
the scan time after changing the MECHATROLINK communication cycle.
• Do not change the scan time set value while the Servo is ON. Never change the setting while the axis is
moving (while the motor is running). Otherwise an error may occur during motor operation (e.g., high-
speed rotation).
• When the scan time is set or changed, be sure to save the data to flash memory.
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window on the MPE720 will be very slow and communication timeouts may occur. If the maximum
execution time exceeds the scan time set value, a watchdog timer timeout error will occur and the
MP2100 system will stop.