YASKAWA SVC - Overview; SVC Function Module; SVR Function Module

2.1 Overview
2.1.1 SVC Function Module
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Basic Information on Motion Control Function Modules
2.1 Overview
The following two Motion Control Function Modules are built into the MP3000.
• SVC/SVC32
• SVR/SVR32
This section outlines the motion control function, provides a conceptual diagram, and
describes the appearance of an indicators on the MP3000.
2.1.1 SVC Function Module
The SVC Function Module performs motion control for MECHATROLINK-III slave devices that
are connected through MECHATROLINK-III communications from the MP3000. The main slave
devices are SERVOPACKs, Distributed I/O Modules, Inverters, and Stepping Motor Drives.
2.1.2 SVR Function Module
The SVR Function Module performs motion control for virtual axes, i.e., it is not actually con-
nected to motors. It performs motion control that synchronizes physical axes with simulated
control of virtual mechanisms such as electronic cams or electronic shafts. You can also use a
motion program to apply control that was executed by the SVR Function Module to multiple
axes to perform multi-axis synchronized control.
The SVR Function Module executes processes at the beginning of the high-speed scan. SVR
processing is executed during the next scan after the scan in which the reference is set. The
results of the processing are applied to the monitor parameters.
When fixed parameter No. 0 (Operation Mode Selection) is set to 0 (Normal operation mode),
processing starts for the virtual axes in the SVR Function Module (32 virtual axes max.). The
default for the Operation Mode Selection parameter is 1 (Axis unused).
Approximate processing times per axis for the SVR Function Module are given in the following
table.
Note: Number of axes: This is the number of axes (1 to 32) for which fixed parameter No. 0 (Operation Mode
Selection) is set to 0 (Normal operation mode).
The above formulas do not apply when the number of axes is 0.
Instruction Processing Time
NOP 5 + (2 × Number of axes) (μs)
POSING 5 + (2.5 × Number of axes) (μs)
High-speed scan
H drawingSVR SVR SVR
The results of the H drawing
are executed in SVR processing
in the next scan.
H drawing
H drawing
The results of SVR processing
can be monitored in processing
in the H drawing in the same scan.
The results are applied
to monitor parameters.
The reference is set.
SVR processing