Svr Operation - YASKAWA MP2100 Series User Manual

11 SVR Virtual Motion Module

11.1.3 SVR Operation

11.1.3 SVR Operation
(1) SVR Execution Timing
The SVR is processed at the beginning of the high-speed scan. SVR processing is performed in the next scan
after specification, and the processing results are reflected in the monitoring parameters.
The following table gives guidelines for the processing time required for each SVR axis.
Command
POSING
Note: Number of axes: 1 to 16 in normal running mode
Servicing all 16 virtual axes of the SVR Module is started by axis according to the following condition.
• When fixed parameter 0 (Run Mode) is set to 0 (Normal Running). (default: 1 (not used))
■ Comparison with SVB Simulation Mode
INFO
In the simulation mode, positioning functions are not supported, so the position data is updated to the final target position
for 1 scan. The SVR uses its positioning function to perform distribution and refreshes the position data for every scan up
to the final target position.
11-4
SVR H Drawing
High-speed scan
MP2100
NOP 35 + 14 × number of axes (µs)
35 + 36 × number of axes (µs)
The above formula does not apply when the number of axes is 0.
SVR
Reference set
processing
SVR H Drawing
Results of commands in the H
drawing are used in SVR processing
the next scan.
MP2100M
24 + 10 × number of axes (µs)
24 + 24 × number of axes (µs)
Reflected in monitoring
parameters
SVR H Drawing
SVR processing results can be
monitored in the H drawing of
the same scan.