YASKAWA MP210 Series User Manual page 221

(1) Scan Time Setting Examples
• When the communication cycle is 1 ms (with MECHATROLINK-II only) and the maximum
scan time value is 0.8 ms
High-speed scan (or low-speed scan) set value ≥ 1.25 × 0.8 (= 1 ms)
High-speed scan (or low-speed scan) set value = 1 ms, 2 ms, 3 ms, ... (an integer of 1 ms or higher)
• When the communication cycle is 1 ms (with MECHATROLINK-II only) and the maximum
scan time value is 1.4 ms
High-speed scan (or low-speed scan) set value ≥ 1.25 × 1.4 (= 1.75 ms)
High-speed scan (or low-speed scan) set value = 2 ms, 3 ms, ... (an integer of 2 ms or higher)
• When the communication cycle is 2 ms (with MECHATROLINK-I or MECHATROLINK-II)
and the maximum scan time value is 0.8 ms
High-speed scan (or low-speed scan) set value ≥ 1.25 × 0.8 (= 1 ms)
High-speed scan (or low-speed scan) set value = 1 ms, 2 ms, 4 ms, ... (1 ms or 2 ms or an integral multiple of
2 ms)
• When the communication cycle is 2 ms (with MECHATROLINK-I or MECHATROLINK-II)
and the maximum scan time value is 1.4 ms
High-speed scan (or low-speed scan) set value ≥ 1.25 × 1.4 (= 1.75 ms)
High-speed scan (or low-speed scan) set value = 2 ms, 4 ms, ... (2 ms or an integral multiple of 2 ms)
5.5 Precautions when Using the MP2100/MP2100M
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