YASKAWA MP210 Series User Manual page 51

(d) Operation when High-speed Scan Cycle is Changed
If the high-speed scan is changed, SVB Module MECHATROLINK communication is continued, but the
speed waveform is disrupted when interpolation commands are issued. Change the high-speed scan cycle
while the CPU is in the STOP status or while no motion commands are being executed.
After changing the high-speed scan settings and switching operation from synchronous to asynchronous or
from asynchronous to synchronous, save the settings in the flash memory and then turn the power OFF and
back ON.
(e) Operation when the MECHATROLINK Communication Cycle is Changed
• When the MECHATROLINK communication cycle of a Built-in SVB Module is changed
Even if the combination of high-speed scan setting and communication cycle setting is one that permits syn-
chronization, there is a risk that asynchrony will result from the change operation. After making a change,
save the settings in the flash memory and then turn the power OFF and back ON.
• When the MECHATROLINK communication cycle of an SVB-01 Module is changed
If the combination of high-speed scan setting and communication cycle setting is one that permits synchroni-
zation, synchronization is performed automatically. In this case, the power does not have to be turned OFF
and then back ON.
(f) Conditions when the Power Supply must be Turned OFF and ON
When any of the following operations is performed, save the settings to flash memory and then turn the
power supply OFF and ON.
• When executing a self-configuration command from the MPE720 after turning ON the power supply
• When loading a Module definition after turning ON the power supply
• When the communication cycle of the Built-in SVB Module is changed after turning ON the power sup-
ply
• When operation changes from synchronous to asynchronous or from asynchronous to synchronous as a
result of changing the high-speed scan setting
2.2 Functions of the MP2100/MP2100M Base Module
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