YASKAWA JEPMC-MP2300S-E, User Manual

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2.2 Basic Module
2.2.6 SVR Virtual Motion Module
2-49
2
Specifications and Functions
( 4 ) SVR Operation
[ a ] SVR Execution Timing
The SVR is processed at the beginning of the high-speed scan. SVR processing is performed in the next scan after
specifying and the processing results are reflected in the monitoring parameters.
[ b ] Processing Time
When fixed parameter 0 (Selection of Operation Modes) is set to 0 (Normal Operation Mode), services are started for
each of the 16 SVR Module virtual axes.
The default for the Selection of Operation Modes parameter is 1 (Axis Unused).
The following table gives guidelines for the processing time required for each SVR axis.
Number of axes: The number of axes (1 to 16) when Selection of Operation Modes (fixed parameter 0) is set to Nor-
mal Operation Mode (0). The formula listed above do not apply when the number of axes is 0.
Differences from SVB Simulation Mode
Simulation mode does not have a positioning function, so the position data is refreshed in one scan to the final target position.
The SVR has its own positioning function that performs distribution, so like a real module, position data is refreshed each scan
for the final target position.
SVR SVR SVR
High-speed scan
H Drawing
Results of commands in the H
drawing are used in SVR
processing the next scan.
H Drawing H Drawing
SVR processing results
can be monitored in the H
drawing of the same scan.
Reflected in monitoring
parameters
Reference set
SVR processing
Command MP2300S
NOP 35 +14
×
Number of axes (
μ
s)
POSING 35 +36
×
Number of axes (
μ
s)