YASKAWA JEPMC-MP2300, User Manual

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2.2 MP2300 Basic Module Functions
2-19
2
Module Specifications
■
Communication Cycle That Can be Set
The communication cycle that can be set will differ depending on the SVB Module type (built-in SVB or optional
SVB) and the communication type as follows.
 Communication Cycle can only be set for Master.
 The communication cycle for MECHATROLINK- I is fixed to 2 ms .
■
Wait for Monitor Data Update
The SVB-01 Module (optional SVB) exchanges data with the Machine Controller’s CPU using the real shared
memory. In this process, the time until the motion parameters created on the SVB-01 Module can be monitored in CPU
applications is one scan longer than when using a built-in SVB Module. (See the following diagram.)
The Wait for Monitor Data Update Mode (when Wait for Monitor Data Update is enabled) solves the problem of this
one-scan delay, so the motion monitoring parameters can be monitored with the same timing as a built-in SVB Module.
The time required for CPU high-speed scan processing, however, will be longer because the CPU’s application
execution start time is suspended until the SVB-01 Module motion processing is completed.
SVB Module Type Built-in SVB Optional SVB
MECHATROLINK- II
Communication
Mode
32-byte mode 17-byte mode 32-byte mode 17-byte mode
Communication
Cycle That Can be
Set
1 ms, 1.5 ms, or 2 ms Fixed to 1 ms
0.5 ms, 1 ms, 1.5 ms, or
2 ms
0.5 ms or 1 ms
<Data Exchange Process with Built-in SVB Module>
<Data Exchange Process with Optional SVB Module>
CPU
H-scan
processing
SVB
H-scan
processing
virtual
Shared
memory
Out-
put
Input
High-speed scan
application
(DWG.H)
Out-
put
Input
High-speed scan
application
(DWG.H)
Motion
processing
Motion
processing
Copies setting parameters Copies setting parameters
H-scan (High-speed scan) cycle
CPU
H-scan
processing
SVB-01
H-scan
processing
SVB
internal
work
real
Shared
memory
Out-
put
Input
High-speed scan
application
(DWG.H)
Motion
processing
I/O
input
H-scan (High-speed scan) cycle
Out-
put
Input
High-speed scan
application
(DWG.H)
Motion
processing
I/O
input
Copies setting parameters and
writes to monitoring parameters
Copies setting parameters and
writes to monitoring parameters