YASKAWA SVC - Synchronization of the MECHATROLINK-III Transmission Cycle and High-Speed Scan Cycle; Synchronization Conditions; Timing at Which the MECHATROLINK Transmission Cycle and the High-Speed Scan Cycle Are Synchronized; Changing Synchronization Cycles

2.6 Synchronization of the MECHATROLINK-III Transmission Cycle and High-Speed Scan Cycle
2.6.1 Synchronization Conditions
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Basic Information on Motion Control Function Modules
2.6 Synchronization of the MECHATROLINK-III Transmission Cycle and High-Speed Scan Cycle
To perform motion control with the SVC Function Module, the MECHATROLINK transmission
cycle and the high-speed scan cycle of the CPU must be synchronized. This section describes
synchronization of the MECHATROLINK transmission cycle and the high-speed scan cycle.
2.6.1 Synchronization Conditions
To synchronize the MECHATROLINK transmission cycle and the high-speed scan cycle of the
CPU, the high-speed scan cycle setting must be an integral multiple or integral fraction of the
MECHATROLINK transmission cycle setting.
2.6.2 Timing at Which the MECHATROLINK Transmission
Cycle and the High-speed Scan Cycle Are Synchronized
The MECHATROLINK transmission cycle and the high-speed scan cycle are automatically syn-
chronized when the power supply is turned OFF and ON again.
If you perform any of the following operations after turning ON the power supply, save the set-
tings to flash memory and then turn the power supply OFF and ON again.
• When executing self configuration from the MPE720
• When loading a Module configuration definition
• When operation changes from asynchronized to synchronized as a result of changing the
transmission cycle
• When operation changes from synchronized to asynchronized or from asynchronized to syn-
chronized as a result of changing the high-speed scan setting
• When fixed parameters are written after turning ON the power supply
2.6.3 Changing Synchronization Cycles
This section describes communications when the MECHATROLINK transmission cycle or the
high-speed scan cycle is changed.
Changing the MECHATROLINK Transmission Cycle
If the MECHATROLINK transmission cycle is changed, operation is automatically synchronized
as long as the high-speed scan setting is an integral multiple or integral fraction of the trans-
mission cycle setting. It is not necessary to turn the power supply OFF and ON again. If the
high-speed scan setting is not an integral multiple or integral fraction of the transmission cycle
setting, operation will not be synchronized, and an alarm will occur for the axis, and an I/O error
will occur for the I/O station.
If an asynchronous state results from changes in the MECHATROLINK transmission cycle or the
high-speed scan cycle, a Scan Setting Error alarm (IL04 bit 16) occurs for the axis and an
I/O error occurs for the I/O station.
Important
If asynchronous operation results from changing the transmission cycle, set the high-speed scan
cycle to an integral multiple or integral fraction of the MECHATROLINK transmission cycle, save
the setting to flash memory, and then turn the power supply OFF and ON again.
Important