YASKAWA SVC - Reference Output Timing

2.6 Synchronization of the MECHATROLINK-III Transmission Cycle and High-Speed Scan Cycle
2.6.4 Reference Output Timing
2-20
Changing High-speed Scan Cycle
When the high-speed scan cycle is changed, MECHATROLINK communications with all slave
stations connected to the SVC Function Module are reset. If the high-speed scan setting is an
integral multiple or integral fraction of the MECHATROLINK transmission cycle, operation is
automatically synchronized when communications are restored.
2.6.4 Reference Output Timing
References that are set during the high-speed scan are output on the transmission path in the
timing shown in the following figure.
1. When you change the high-speed scan cycle, do so either with the CPU stopped or when
motion commands are not being executed. Otherwise, application operations may be
affected.
2. When the high-speed scan cycle setting is changed, MECHATROLINK communications are
reset, and the following will occur.
• The axis position information is lost and bit 5 (Zero Point Return/Setting Completed) in
IW0C changes to 0 (Zero point return/setting not completed).
• The software limits will be disabled when bit 5 (Zero Point Return/Setting Completed) in
IW0C changes to 0 (Zero point return/setting not completed).
Important
 
Transmission
cycle
(250 μs)
High-speed
scan
(1 ms)
Command  is sent to
the slave device every
transmission cycle.
Transmission path
Command
 is sent to
the slave device every
transmission cycle.