YASKAWA MP210 Series User Manual page 50

2 Specifications and Functions
2.2.5 Built-in SVB Modules
(3) Synchronization between Modules
(a) Overview
The MP2100M has a hardware-based function for synchronizing the CPU and Optional Modules.
This function makes it possible to synchronize the high-speed scan and MECHATROLINK communication,
which means that synchronization between a Built-in SVB Module and an SVB-01 Module, and synchroni-
zation among multiple SVB-01 Modules, are possible.
Communication cycle
for SVB built into the
CPU Module
Communication cycle
for SVB-01 #1
Communication cycle
for SVB-01 #2
In the synchronous mode, the start timings for the high-speed scan and each communication cycle are syn-
chronized as shown in the figure above, so no discrepancy arises. This means that the timing in which com-
mands in high-speed scanning are transferred to communication cycle processing is constant, and the
distribution processing for interpolation commands is simplified.
(b) Conditions Under which Synchronization Is Possible
When the combination of the high-speed scan time and the MECHATROLINK communication cycle is one
of those indicated by "" in the table below, synchronization is established among the modules.
(c) Timing at which Modules are Synchronized
Modules are automatically synchronized when the power supply is turned OFF and ON again.
2-18
High-speed scan
高速スキャン
CPU内蔵SVB
通信周期
2 ms
SVB-01 #1
通信周期
1 ms
SVB-01 #2
通信周期
2 ms
High-speed MECHATROLINK Communication Cycle
Scan
0.5 ms
(RTC: 0.5 ms)

1.0 ms

1.5 ms

2.0 ms

2.5 ms

3.0 ms

3.5 ms

4.0 ms

4.5 ms

5.0 ms

5.5 ms

6.0 ms
:
4 ms
1 ms 1.5 ms 2 ms
 – 
–  –
 – 
– – –
  –
– – –
 – 
–  –
 – –
– – –
  