Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 24)

1.1 SVB Module Overview and Features
1.1.6 Synchronization between Modules
1-8
( 4 ) Operation when High-speed Scan Cycle Is Changed
MECHATROLINK communication with SVB Modules will continue even if the high-speed scan cycle is changed.
However, the speed waveform at execution of interpolation command will be disordered. When changing the high-
speed scan cycle, do so either with the CPU stopped or when motion command are not being executed.
Change the high-speed scan setting and then save the settings to flash memory and turn the power supply OFF and ON
when operation changes from synchronized to asynchronized or from asynchronized to synchronized.
( 5 ) Operation When the MECHATROLINK Communication Cycle Is Changed
Changing the MECHATROLINK Communication Cycle of the SVB in the CPU
Synchronization may be lost when a change is made even if synchronization is possible for the high-speed scan and
communication cycle combination. When a change is made, save the settings to flash memory and then turn the power
supply OFF and ON.
Changing the MECHATROLINK Communication Cycle of the SVB-01 Module
Operation will be automatically synchronized when a change is made if synchronization is possible for the high-speed
scan and communication cycle combination. It is not necessary to turn the power supply OFF and ON.
( 6 ) 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.
• After executing a self-configuration command from the MPE720 after turning ON the power supply
• After loading a Module definition after turning ON the power supply
• After changing the SVB communication cycle in the CPU after turning ON the power supply
• After operation changes from synchronized to asynchronized or from asynchronized to synchronized when the
high-speed scan setting is changed
( 7 ) Precaution
Observe the following precautions when the scan time over counter error occurs.
When an H Scan Time Over Counter error or L Scan Time Over Counter error occurs, the MECHATROLINK commu-
nication cycle is disturbed and a communication error may occur.
These scan time errors can be checked in the SW00044 and SW00046 registers.