YASKAWA JEPMC-CP3201-E - Page 83

3.1 Basic Functionality
Scans
3-33
3
CPU Unit Functionality
If these restrictions are not observed, the high-speed scan cycle will stop and an alarm will occur. The
alarm is reported in the M-III Restrictions Error Bit (SB00041D) in the CPU Error Status System Register.
Refer to the following section for details.
4.3 CPU Unit Specifications −  System Status (page 4-19)
 Restrictions Imposed by Σ-V SERVOPACKs
The specifications of MECHATROLINK-III Σ-V-series SERVOPACKs impose the following restrictions
on the set value of the high-speed scan time.
If these restrictions are not observed, an A.94B Data Setting Warning 2 (Data Out of Range) warning will
occur in the SERVOPACK.
 I/O Processing
If the high-speed scan time is set to at least 0.5 ms, the I/O service (I/O processing) of the MP2000
Optional Module will be performed every scan.
If the high-speed scan time is set to less than 0.5 ms (0.125 ms or 0.250 ms), the I/O service (I/O process-
ing) of the MP2000 Optional Module will be performed at the filtered basic cycle of 0.5 ms.
The following figures show the timing results for these settings.
 Example: High-speed Scan Time Set to 0.5 ms
* The purpose of this system service register is to determine from a ladder program whether the I/O scan service
is being executed for MP2000 Optional Modules
2 ms
Integral multiple of 2 ms or 1
times the integer portion
2.0 to 32.0 ms (in increments
of 2 ms)
2.0 to 32.0 ms (in increments
of 2 ms)
3 ms
Integral multiple of 3 ms or 1
times the integer portion
3.0 to 30.0 ms (in increments
of 3 ms)
3.0 to 30.0 ms (in increments
of 3 ms)
Σ-V SERVOPACK
Version
Restrictions
Lower than version 21
High-speed scan time set value ≤ (32 × Communications cycle)
Example: If the MECHATROLINK-III communications cycle is 125 μs, the set value of
the high-speed scan time can be up to 4.0 ms (125 μs × 32).
Version 21 or higher
High-speed scan time set value ≤ (254 × Communications cycle)
Example: If the MECHATROLINK-III communications cycle is 125 μs, the set value of
the high-speed scan time can be up to 31.75 ms (125 μs × 254).
Continued from previous page.
Communica-
tions Cycle
High-speed Scan Time Set
Value Restrictions
Possible Set Values
When MP2000 Optional
Module Is Not Used
When MP2000 Optional
Module Is Used
0.5 ms
c
c
c
d
d
d
e
e
e
High-speed scan
MP2000
Optional Module
System service
register SB000008*
Basic cycle
(0.5 ms)
Reference issued at c Reference issued at d Reference issued at e