Slave Cpu Synchronization Function Execution Conditions - YASKAWA MP210 Series User Manual

Appendix F MP2100M Slave CPU Synchronization Function
F.2.2 Slave CPU Synchronization Function Execution Conditions
(3) Optional Modules
When connecting a
MP2000 series SVB-01
MP2000 series SVC-01
(4) Engineering Tool
MPE720
MPE720 version 6
F.2.2 Slave CPU Synchronization Function Execution Conditions
In order to use the slave CPU synchronization function, both the master and slave devices must meet all of the
following conditions.
(1) Conditions for the Master
• Compatibility with the slave synchronization function (must be the version indicated above or later)
• High-speed scan setting to be an integral multiple or integral fraction of the MECHATROLINK commu-
nication cycle
• Communication type to be MECHATROLINK-II (17-byte, 32-byte)
(2) Conditions for the Slaves
• "Slave synchronization function = Enable" to be set in the MECHATROLINK communication parameters
• High-speed scan setting to be an integral multiple or integral fraction of the communication cycle setting
• High-speed scan setting to be an integral multiple or integral fraction of the high-speed scan setting at the
master device
• "Slave synchronization restart control = OFF" to be set for the output registers allocated to the Built-in
SVB Modules of MP2100M devices
(3) Setting Example
• Master device
• Slave device

The high-speed scan setting at the master device is an integral multiple of the MECHATROLINK com-
munication cycle.

The high-speed scan setting at the slave device is an integral fraction of the high-speed scan setting at
the master device.

The high-speed scan setting at the slave device is an integral multiple of the communication cycle set-
ting.
→
Because the conditions are satisfied, slave CPU synchronization can be enabled.
F-4
to SVB-01 or SVC-01 Modules, the modules must be of the following versions.
SERVOPACK
Module
JAPMC-MC2310(-E)
JAMPC-MC2320-E
Module
CPMC-MPE720
CPMC-MPE770
Communication cycle setting: 1 ms
High-speed scan setting: 4 ms
High-speed scan setting: 2 ms
Model
Ver. 1.26 or later
Ver. 1.01 or later
Model
Ver. 5.51 or later
Ver. 6.21 or later
Version
Version


