3.1 Basic Functionality
3.1.4 Scans
3-30
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 Sta-
tus System Register. Refer to the following section for details.
System Status on page 4-17
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 processing) 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 0.125 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.
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 250 μs, the set value of
the high-speed scan time can be up to 8.0 ms (250 μs × 32).
Version 21 or higher
High-speed scan time set value ≤ (254 × Communications cycle)
Example: If the MECHATROLINK-III communications cycle is 250 μs, the set value of
the high-speed scan time can be up to 63.50 ms (250 μs × 254).
System service
register
SB000008*
Basic cycle
(0.5 ms)
MP2000
Optional
Module
High-speed scan
0.125 ms
0.5 ms
Reference issued at
Reference issued at
Reference issued at
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