Precautions; Precautions On Use - YASKAWA MP210 Series User Manual

Appendix F MP2100M Slave CPU Synchronization Function
F.4.1 Precautions on Use
F.4 Precautions
F.4.1 Precautions on Use
(a) The MP2100M slave CPU synchronization function can only be used with the MP2100M
model JAPMC-MC2140-ET3. Install the T-branch module (model: JEPMC-W6023-E)
packaged with it by connecting it to the MECHATROLINK connector (PORT 1) of the
MP2100M CPU Board. If it is at the end of the network, be sure to install a terminating
resistor (model: JEPMC-W6022 (-E)).
(b) When settings have been made for slave CPU synchronization with an MP2100M other
than the model "JAPMC-MC2140-ET3", the master and slave devices operate asynchro-
nously.
(c) When a definition created with a version of MPE720 that supports the MP2100M slave
CPU synchronization function (Ver. 5.51 or later, or Ver. 6.21 or later) is transferred to a
version of MP2100M that doesn't support this function (Ver. 2.70 or earlier), a transmis-
sion error occurs.
(d) Do not transfer a definition created with a version of MPE720 that supports the MP2100M
slave CPU synchronization function (Ver. 5.51 or later, or Ver. 6.21 or later) to a version of
MP2100M that doesn't support this function (Ver. 2.70 or earlier) by using a version of
MPE720 that doesn't support the function (Ver. 5.50 or earlier, or Ver. 6.20 or earlier).
(e) Note that the following restrictions on use apply when changing a definition created with a
version of MPE720 that supports the MP2100M slave CPU synchronization function (Ver.
5.51 or later, or Ver. 6.21 or later) with a version of MPE720 that doesn't support this func-
tion (Ver. 5.50 or earlier, or Ver. 6.20 or earlier).
• The "Master/Slave" setting is grayed out and cannot be changed. The setting made on
creation of the definition is shown in the MPE720 window.
• The "Slave synchronous function Enable/Disable" setting is not shown. However, the set-
ting made on creation of the definition is retained.
• By using the "Save as" function, the "Master/Slave" setting and "Slave synchronous func-
tion Enabled/Disabled" setting made on creation of the definition are saved unchanged.
(f) When an MP2100M model "JAPMC-MC2140-ET3" is used as the master device, a T-
branch module and a terminating resistor are required.
(g) Take care to carry out the installation so as not to impose any stress on the T-branch mod-
ule or MECHATROLINK cable.
(h) When using the slave CPU synchronization function, the PO-01 Optional Module cannot
be used at the slave side.
When using a PO-01, disable the slave CPU synchronization function.
(i) During the transition from the asynchronous status to the synchronous status brought
about by the slave CPU synchronization function, the scan cycle (high-speed, low-speed)
at the slave devices may be extended by up to the length of one scan cycle. This makes it
necessary to adopt a strategy of not using data transmitted in this elongated cycle when
dealing with applications that require constant timing or constant cycles.
(j) If an SVA-01 Module is mounted in the slave expansion rack, there is a possibility of
shocks to the axes and other effects on operation when slave CPU synchronization is
established. Stop operation in advance.
(k) When an SVB-01 or SVC-01 Module is mounted at the slave side, communications with
the slave devices connected to the SVB-01 or SVC-01 Module will be disconnected and
then reconnected during the transition to the slave CPU synchronous status. When slave
devices such as SERVOPACKs or inverters are connected, stop operation in advance.
There is a possibility of subjecting the system to shocks, such as sudden stopping of axes
due to breaking off of communications.
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