YASKAWA MP3000 Series Setup Manual page 127

 High-speed Scan Time Set Value Restrictions
This section describes the restrictions on the set value of the high-speed scan time.
 Restrictions Imposed by the MECHATROLINK-III Communication Cycle of the
SVC32 Module in the CPU Unit
The high-speed scan of the CPU Unit is synchronized with the MECHATROLINK-III communi-
cations cycle of the SVC32 Module in the CPU Unit. This imposes the following restrictions in
the set value of the high-speed scan time.
Communica- High-speed Scan Time Set
tions Cycle Value Restrictions
125 μs Integral multiple of 125 μs
Integral multiple of 250 μs or
250 μs
1 times the integer portion
Integral multiple of 500 μs or
500 μs
1 times the integer portion
Integral multiple of 1 ms or 1
1 ms
times the integer portion
Integral multiple of 1.5 ms or
1.5 ms
1 times the integer portion
Integral multiple of 2 ms or 1
2 ms
times the integer portion
Integral multiple of 3 ms or 1
3 ms
times the integer portion
If these restrictions are not observed, the high-speed scan cycle will stop and an alarm will
occur. The alarm is reported in the M-III Restrictions Error Bit (SB00041D) in the CPU Error Sta-
tus System Register. Refer to the following manuals for details.
MP3000 Series MP3200 User's Manual (Manual No.: SIEP C880725 10)
 Restrictions Imposed by Σ-V SERVOPACKs Connected to the SVC or SVC32 Module
in the CPU Unit/CPU Module
The specifications of MECHATROLINK-III Σ-V-series SERVOPACKs impose the following
restrictions on the set value of the high-speed scan time.
Σ-V SERVOPACK Ver-
sion
High-speed scan time set value ≤ (32 × Communications cycle)
Example: If the MECHATROLINK-III communications cycle is 125 μs, the set value of
Lower than version 21
the high-speed scan time can be up to 4.0 ms (125 μs × 32).
High-speed scan time set value ≤ (254 × Communications cycle)
Example: If the MECHATROLINK-III communications cycle is 125 μs, the set value of
Version 21 or higher
the high-speed scan time can be up to 31.75 ms (125 μs × 254).
If these restrictions are not observed, an A.94B Data Setting Warning 2 (Data Out of Range)
warning will occur in the SERVOPACK.
Possible Set Values
When MP2000 Optional
Module Is Not Used
0.25 ms to 32.0 ms
CPU-301 (in increments of
0.125 ms)
CPU-302 0.125 ms to 32.0 ms
CPU-201 (in increments of
CPU-202 0.125 ms)
0.25 ms to 32.0 ms (in incre-
ments of 0.25 ms)
0.5 ms to 32.0 ms (in increments
of 0.5 ms)
1.0 ms to 32.0 ms (in increments
of 1 ms)
1.5 ms to 31.5 ms (in increments
of 1.5 ms)
2.0 ms to 32.0 ms (in increments
of 2 ms)
3.0 ms to 30.0 ms (in increments
of 3 ms)
Restrictions
3.6 Device-specific Settings
3.6.5 Setting the Scan Times
When MP2000 Optional
Module Is Used
0.25 ms or 0.5 ms to 32.0
ms (in increments of 0.5 ms)
0.125 ms, 0.25 ms, or 0.5
ms to 32.0 ms (in incre-
ments of 0.5 ms)
0.25 ms or 0.5 ms to 32.0
ms (in increments of 0.5 ms)
0.5 ms to 32.0 ms (in incre-
ments of 0.5 ms)
1.0 ms to 32.0 ms (in incre-
ments of 1 ms)
1.5 ms to 31.5 ms (in incre-
ments of 1.5 ms)
2.0 ms to 32.0 ms (in incre-
ments of 2 ms)
3.0 ms to 30.0 ms (in incre-
ments of 3 ms)
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