YASKAWA MP Series User Manual

3.4 Self-configuration and Definition Files
3.4.2 MECHATROLINK Transmission Definition
3-17
Self-configuration and Created Definition Files
 Communication Cycle That Can be Set
The communication cycle that can be set will differ depending on the SVB Module type (built-in SVB or optional
SVB) and the communication type as follows.
 Communication Cycle can only be set for Master.
 The communication cycle for MECHATROLINK-I is fixed to 2 ms.
 Wait for Monitor Data Update
The SVB-01 Module (optional SVB) exchanges data with the Machine Controller’s CPU using the real shared mem-
ory. In this process, the time until the motion parameters created on the SVB-01 Module can be monitored in CPU
applications is one scan longer than when using a built-in SVB Module. (See the following diagram.)
The Wait for Monitor Data Update Mode (when Wait for Monitor Data Update is enabled) solves the problem of this
one-scan delay, so the motion monitoring parameters can be monitored with the same timing as a built-in SVB Module.
The time required for CPU high-speed scan processing, however, will be longer because the CPU’s application execu-
tion start time is suspended until the SVB-01 Module motion processing is completed.
SVB Module Type Built-in SVB Optional SVB
MECHATROLINK-II
Communication
Mode
32-byte mode 17-byte mode 32-byte mode 17-byte mode
Communication
Cycle That Can be
Set
1 ms, 1.5 ms, or 2 ms Fixed to 1 ms
0.5 ms, 1 ms, 1.5 ms, or
2 ms
0.5 ms or 1 ms
<Data Exchange Process with Built-in SVB Module>
<Data Exchange Process with Optional SVB Module>
CPU
H-scan
processing
SVB
H-scan
processing
virtual
shared
memory
Out-
put
Input
High-speed scan
application
(DWG.H)
Out-
put
Input
High-speed scan
application
(DWG.H)
Motion
processing
Motion
processing
Copies setting parameters Copies setting parameters
H-scan (High-speed scan) cycle
CPU
H-scan
processing
SVB-01
H-scan
processing
SVB
internal
work
real
shared
memory
Out-
put
Input
High-speed scan
application
(DWG.H)
Motion
processing
I/O
input
H-scan (High-speed scan) cycle
Out-
put
Input
High-speed scan
application
(DWG.H)
Motion
processing
I/O
input
Copies setting parameters and
writes to monitoring parameters
Copies setting parameters and
writes to monitoring parameters

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English