Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 23)

1.1 SVB Module Overview and Features
1.1.6 Synchronization between Modules
1-7
Overview
1.1.6 Synchronization between Modules
( 1 ) Overview
MP2200 and MP2300 Machine Controllers have a function that can synchronize hardware between the CPU and an
optional module. This function enables MECHATROLINK communications in synchronization with high-speed scans.
As a result, synchronization between a built-in SVB Module and an SVB-01 Module, or among multiple SVB-01 Mod-
ules, can be enabled.
When synchronized mode is used, the start of the high-speed scan and the various communication cycles are synchro-
nized. This means that commands from the high-speed scan will be sent at consistent points in communication cycle
processing and simplifies distribution processing for interpolation commands.
( 2 ) Conditions Under Which Synchronization Is Possible
The following table shows the combinations of high-speed scan times and MECHATROLINK communication cycles
that allow synchronization between modules in the synchronization mode.
( 3 ) Timing At Which Modules Are Synchronized
Modules are automatically synchronized when the power supply is turned OFF and ON again.
High-speed scan
4 ms
2 ms
1 ms
2 ms
Communication
cycle for SVB built
into the CPU
Communication
cycle for SVB-01
#1
Communication
cycle for SVB-01
#2
High-speed scan
(RTC: 0.5 ms)
MECHATROLINK Communication Cycle
0.5 ms 1 ms 1.5 ms 2 ms
1.0 ms Yes Yes − Yes
1.5 ms Yes − Yes −
2.0 ms Yes Yes − Yes
2.5 ms Yes − − −
3.0 ms Yes Yes Yes −
3.5 ms Yes − − −
4.0 ms Yes Yes − Yes
4.5 ms Yes − Yes −
5.0 ms Yes Yes − −
5.5 ms Yes − − −
6.0 ms Yes Yes Yes Yes
: