YASKAWA MP210 Series User Manual page 64

2 Specifications and Functions
2.2.6 Built-in SVR Virtual Motion Module
(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 the processing for the drawing has been completed, and the processing results are reflected in the
monitoring parameters.
(b) Processing Time
When fixed parameter 0 (Run Mode) is set to 0 (Normal Running), service on each of the SVR Module's
virtual axes (total of 16 axes) is started.
Note: The default setting for the Run Mode is
The following table gives guidelines for the processing time required for each SVR axis.
Command
POSING
Note: Number of axes:
 Comparison with SVB Simulation Mode
INFO
In the simulation mode, no positioning function is available, so the position data is updated to the final target position for
one scan. In contrast, the SVR uses its positioning function to perform distribution and therefore, in the same way as an
actual module, it refreshes the position data for every scan up to the final target position.
2-32
SVR H Drawing
High-speed scan
MP2100
NOP 35 + 14 × number of axes (μs)
35 + 36 × number of axes (μs)
This is the number of axes (1 to 16) when Normal Running (0) is set for Set Run Mode (fixed param-
eter 0).
The formulae above do not apply when the number of axes is 0.
SVR
Reference set
processing
SVR H Drawing
A drawing is made using the
designated units as reference. These
results are used in the next scan.
" "
1 (axes not used).
Reflected in monitoring
parameters
SVR H Drawing
SVR processing results can be
monitored in the H drawing of
the same scan.