YASKAWA JEPMC-MP2300-Y Series User Manual page 121

( 4 ) SVR Operation
[ a ] SVR Execution Timing
The SVR is processed at the beginning of the high-speed scan. SVR processing is performed in the
next scan after specifying and the processing results are reflected in the monitoring parameters.
SVR
[ b ] Processing Time
When fixed parameter 0 (Run Mode) is set to 0 (Normal Running), services are started for each of the
16 SVR module virtual axes.
The following table gives guidelines for the processing time required for each SVR axis.
H Drawing
High-speed scan
The default for the Run Mode parameter is 1 (Axis Unused).
Command
NOP 35 +14 × Number of axes (µs)
POSING 35 +36 × Number of axes (µs)
Number of axes: The number of axes (1 to 16) when Run Mode (fixed parameter 0) is set to
Normal Running (0). The formula listed above do not apply when the number of axes is 0.
Differences from SVB Simulation Mode
Simulation mode does not have a positioning function, so the position data is refreshed in one scan to
the final target position. The SVR has its own positioning function that performs distribution, so like a
real module, position data is refreshed each scan for the final target position.
Reference set
H Drawing
SVR
Results of commands in the H
drawing are used in SVR
processing the next scan.
MP2300
3.2 Basic Module
SVR processing
Reflected in monitor
parameters
H Drawing
SVR
SVR processing result
can be monitored in th
drawing of the same s
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