YASKAWA SVC - Page 399

6.6 Slave CPU Synchronization . . . . . . . . . . . . 6-18
6.6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-18
6.6.2 Applicable Versions and Execution
Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-19
6.6.3 Setting Procedure . . . . . . . . . . . . . . . . . . . . . . .6-20
6.6.4 I/O Registers . . . . . . . . . . . . . . . . . . . . . . . . . . .6-24
6.6.5 Execution Flow for Slave CPU
Synchronization . . . . . . . . . . . . . . . . . . . . . . . . .6-25
6.6.6 Procedure to Turn ON Power . . . . . . . . . . . . . . .6-26
6.6.7 Confirmation That the Slave CPU
Is Synchronized . . . . . . . . . . . . . . . . . . . . . . . . .6-26
6.6.8 Handling Input Errors . . . . . . . . . . . . . . . . . . . . .6-27
6.6.9 Effect on Application Program . . . . . . . . . . . . . .6-28
6.6.10 Operation of Slave MP3000 . . . . . . . . . . . . . . . .6-29
6.6.11 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-30
6.7 Multiturn Limit Setting Disagreement Detection . . 6-31
6.7.1 Applicable Versions . . . . . . . . . . . . . . . . . . . . . .6-31
6.7.2 Related Parameters . . . . . . . . . . . . . . . . . . . . . .6-32
6.7.3 Multiturn Limit Setting Disagreement Detection
Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-32
6.7.4 Checking for a Multiturn Limit Setting
Disagreement . . . . . . . . . . . . . . . . . . . . . . . . . . .6-32
6.7.5 Clearing the Warning . . . . . . . . . . . . . . . . . . . . .6-32
6.8 Precautions When Using Σ -7-series SERVOPACKs . . 6-34
6.8.1 MP3000 Versions That Support the Σ-7-series
SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . .6-34
6.8.2 Σ-7-series SERVOPACK Electronic Gear Ratio
and MP3000 Settings . . . . . . . . . . . . . . . . . . . .6-35
6.8.3 Link Assignments . . . . . . . . . . . . . . . . . . . . . . . .6-36
6.8.4 Number of Pulses Per Motor Rotation . . . . . . . .6-36
6.8.5 Self Configuration . . . . . . . . . . . . . . . . . . . . . . .6-36
6.8.6 Operating Specifications When Using
an MP3000 Controller That Supports
the Σ-7-series SERVOPACKs . . . . . . . . . . . . . . .6-37
6.8.7 Operating Specifications When Using
an MP3000 Controller That Does Not
Support the Σ-7-series SERVOPACKs . . . . . . . .6-39