Yaskawa MP900 Series Machine Controller for Standard Operation - Manual (Page 120)

3.5 MP920 Module Definitions
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3
Compatible Modules are as follows:
• 215IF, 217IF, 218IF, 260IF, LIO-01, AI-01, AO-01, CNTR-01, DI-01, DO-01,
SVA-01/02, PO-01, SVB-01
b) Link I/O Processing
A 215IF Module's I/O scan is executed in synchronization with the control CPU's
scan.
The only compatible Module is the 215IF Module.
c) Local I/O Processing
For the following Modules, the I/O scan is executed in synchronization with the con-
trol CPU's scan.
Compatible Modules are as follows:
• LIO-01, AI-01, AO-01, DI-01, DO-01, CNTR-01
d) Message I/O Processing
For the following Modules, messages can be input and output by using the system
functions (MSG-SND and MSG-RCV) in the control CPU.
Compatible Modules are as follows: 215IF, 217IF, 218IF, and 260IF.
• Master (Send):
Messages can be sent using the MSG-SND function in the control CPU.
• Slave (Receive):
Messages specified for the CPU number are received using the MSG-RCV func-
tion in the control CPU. With the 217IF Module, the CPU number is not speci-
fied in messages, so the receiving CPU can be selected by controlling the MSG-
RCV function startup in the application.
e) Motion Control
The SVA-01/02, PO-01, and SVB-01 Modules can perform motion control. Motion
can be controlled only for Control CPU #1. Only CPU #1 can be displayed and set in
the Motion Parameter Window, but it is possible to program motion I/O with CPU
#2's drawing/function programs or display and set the motion I/O registers in the reg-
ister list.
Compatible Modules are as follows: SVA-01/02, PO-01, SVB-01.
f) Other Points
• External Interrupt Processing
For the LIO-01, CNTR-01, and DI-01 Modules, external interrupts are controlled
by the control CPU, although the Interrupt Process Drawing (DWG.I) is activated
simultaneously for both the CPUs.
Compatible Modules are as follows: LIO-01, CNTR-01, and DI-01.
• Hot Swapping (Replacement) and Dual Modules
These functions are controlled by the control CPU. Hot swapping is not sup-
ported in the current version for the MP920. The 215IF and EXIOIF Module
support Dual Module operation.