Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 511)

Appendix F SVB Module Throughput
F.1 For Servos and Inverters
A-22
Appendix F SVB Module Throughput
The maximum time for data to be received via the SVB Module is described below.
F.1 For Servos and Inverters
( 1 ) Time Required to Transmit a Command from an Application to a Servo
<When the high-speed scan setting = Communication cycle × n (n = an integer)>
Required time for command = High-speed scan set time × 2 + Communication cycle × 1
<When the high-speed scan setting = Communication cycle × n (n = a non-integer)>
Required time for command = High-speed scan set time × 2 + Communication cycle × 2
The time from the moment the servo receives a command until it outputs the command is not included.
This also applies to built-in and optional SVB Modules
( 2 ) Time Required to Transmit a Response from a Servo to an Application
Built-in SVB Modules
<When the high-speed scan setting = Communication cycle × n (n = an integer)>
Required time for response = High-speed scan set time × 1 + Communication cycle × 1
<When the high-speed scan setting = Communication cycle × n (n = a non-integer)>
Required time for response = High-speed scan set time × 1 + Communication cycle × 2
The time required for the response from the servo to be written in MECHATROLINK input data is not included.
Optional SVB Modules
<When the high-speed scan setting = Communication cycle × n (n = an integer)>
Required time for response = High-speed scan set time × 2 + Communication cycle × 1
<When the high-speed scan setting = Communication cycle × n (n = a non-integer)>
Required time for response = High-speed scan set time × 2 + Communication cycle × 2
When Wait For Monitor Data Update mode is used, the required time will be same as for built-in SVB Modules.
F.2 For I/Os
( 1 ) Time Required to Transmit an output from the Application to an I/O Module
<When the high-speed scan setting = Communication cycle × n (n = an integer)>
Required time for command = High-speed scan set time × 2 + Communication cycle × 1
<When the high-speed scan setting = Communication cycle × n (n = a non-integer)>
Required time for command = High-speed scan set time × 2 + Communication cycle × 2
The time from the moment the output module receives a command until it outputs a signal is not included.
This also applies to built-in and optional SVB Modules
( 2 ) Time Required to Transmit an I/O Module Input Data to an Application
<When the high-speed scan setting = Communication cycle × n (n = an integer)>
Required time for response = High-speed scan set time × 1 + Communication cycle × 1
<When the high-speed scan setting = Communication cycle × n (n = a non-integer)>
Required time for response = High-speed scan set time × 1 + Communication cycle × 2
The time required for the response from the input module to be written in MECHATROLINK input data is not
included.
This also applies to built-in and optional SVB Modules