3.1 Basic Functionality
Scans
3-32
Scans
A scan refers to the processing that starts at fixed intervals.
This section describes the scans.
Types of Scans
The CPU Unit has two types of scans, the high-speed H scan and low-speed L scan.
A high-speed H scan has higher priority than a low-speed L scan. The fixed period for each scan, also
known as the scan time, can be set by the user.
This section describes the settings for the scan times.
High-speed (H) Scan
The following table shows the different high-speed scan time set values depending on whether the
MP2000 Optional Module is used.
High-speed Scan Time Set Value Restrictions
This section describes the restrictions on the set value of the high-speed scan time.
Restrictions Imposed by the MECHATROLINK-III Communications Cycle
The high-speed scan of the CPU Unit is synchronized with the MECHATROLINK-III communications
cycle of the SVC32 Module built into the CPU Unit. This imposes the following restrictions in the set
value of the high-speed scan time.
There are restrictions on the set value of the high-speed scan time. Refer to the following section for
details.
High-speed Scan Time Set Value Restrictions (page 3-32)
When the MP2000 Optional Module Is Not Used When the MP2000 Optional Module Is Used
0.125 to 32.0 ms (in 0.125-ms increments)
0.125 ms, 0.250 ms, or 0.5 to 32.0 ms (in 0.5-ms incre-
ments)
The default high-speed scan time is 4.0 ms.
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
125 μs Integral multiple of 125 μs
0.125 to 32.0 ms (in incre-
ments of 0.125 ms)
0.125 ms, 0.250 ms, or 0.5 to
32.0 ms (in increments of 0.5
ms)
250 μs
Integral multiple of 250 μs or
1 times the integer portion
0.250 to 32.0 ms (in incre-
ments of 0.250 ms)
0.250 ms or 0.5 to 32.0 ms (in
increments of 0.5 ms)
500 μs
Integral multiple of 500 μs or
1 times the integer portion
0.5 to 32.0 ms (in increments
of 0.5 ms)
0.5 to 32.0 ms (in increments
of 0.5 ms)
1 ms
Integral multiple of 1 ms or 1
times the integer portion
1.0 to 32.0 ms (in increments
of 1 ms)
1.0 to 32.0 ms (in increments
of 1 ms)
1.5 ms
Integral multiple of 1.5 ms or
1 times the integer portion
1.5 to 31.5 ms (in increments
of 1.5 ms)
1.5 to 31.5 ms (in increments
of 1.5 ms)
Continued on next page.
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