3.1 Basic Functionality
3.1.4 Scans
3-29
3
CPU Module Functionality
3.1.4
Scans
A scan refers to the processing that starts at fixed intervals.
This section describes the scans.
Types o f Sca n s
The CPU Modules 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 Module is synchronized with the MECHATROLINK-III commu-
nications cycle of the SVC or SVC32 Module in the CPU Module. 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 on page 3-29
When the MP2000 Optional Module Is Not Used When the MP2000 Optional Module Is Used
CPU-301: 0.25 to 32.0 ms (in increments of 0.125 ms)
CPU-302: 0.125 to 32.0 ms (in increments of 0.125 ms)
0.250 ms or
0.5 to 32.0 ms (in increments of 0.5 ms)
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
CPU-301
0.25 to 32.0 ms
(in increments of
0.125 ms)
0.25 ms or 0.5 to 32.0 ms
(in increments of 0.5 ms)
CPU-302
0.125 to 32.0 ms
(in increments of
0.125 ms)
0.125 ms, 0.25 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 increments 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)
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)
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