3.6 Device-specific Settings
3.6.5 Setting the Scan Times
3-49
3
Machine Controller Setup
High-speed Scan Time Set Value Restrictions
This section describes the restrictions on the set value of the high-speed scan time.
Restrictions Imposed by the MECHATROLINK-
III
Communication Cycle of the
SVC32 Module in the CPU Unit
The high-speed scan of the CPU Unit is synchronized with the MECHATROLINK-III communi-
cations cycle of the SVC32 Module in the CPU Unit. This imposes the following restrictions in
the set value of the high-speed scan time.
If these restrictions are not observed, the high-speed scan cycle will stop and an alarm will
occur. The alarm is reported in the M-III Restrictions Error Bit (SB00041D) in the CPU Error Sta-
tus System Register. Refer to the following manuals for details.
MP3000 Series MP3200 User’s Manual (Manual No.: SIEP C880725 10)
Restrictions Imposed by
Σ
-V SERVOPACKs Connected to the SVC or SVC32 Module
in the CPU Unit/CPU Module
The specifications of MECHATROLINK-III
Σ
-V-series SERVOPACKs impose the following
restrictions on the set value of the high-speed scan time.
If these restrictions are not observed, an A.94B Data Setting Warning 2 (Data Out of Range)
warning will occur in the SERVOPACK.
Communica-
tions Cycle
High-speed Scan Time Set
Value Restrictions
Possible Set Values
When MP2000 Optional
Module Is Not Used
When MP2000 Optional
Module Is Used
125
μ
s
Integral multiple of 125
μ
s
CPU-301
0.25 ms to 32.0 ms
(in increments of
0.125 ms)
0.25 ms or 0.5 ms to 32.0
ms (in increments of 0.5 ms)
CPU-302
CPU-201
CPU-202
0.125 ms to 32.0 ms
(in increments of
0.125 ms)
0.125 ms, 0.25 ms, or 0.5
ms to 32.0 ms (in incre-
ments of 0.5 ms)
250
μ
s
Integral multiple of 250
μ
s or
1 times the integer portion
0.25 ms to 32.0 ms (in incre-
ments of 0.25 ms)
0.25 ms or 0.5 ms to 32.0
ms (in increments of 0.5 ms)
500
μ
s
Integral multiple of 500
μ
s or
1 times the integer portion
0.5 ms to 32.0 ms (in increments
of 0.5 ms)
0.5 ms to 32.0 ms (in incre-
ments of 0.5 ms)
1 ms
Integral multiple of 1 ms or 1
times the integer portion
1.0 ms to 32.0 ms (in increments
of 1 ms)
1.0 ms to 32.0 ms (in incre-
ments of 1 ms)
1.5 ms
Integral multiple of 1.5 ms or
1 times the integer portion
1.5 ms to 31.5 ms (in increments
of 1.5 ms)
1.5 ms to 31.5 ms (in incre-
ments of 1.5 ms)
2 ms
Integral multiple of 2 ms or 1
times the integer portion
2.0 ms to 32.0 ms (in increments
of 2 ms)
2.0 ms to 32.0 ms (in incre-
ments of 2 ms)
3 ms
Integral multiple of 3 ms or 1
times the integer portion
3.0 ms to 30.0 ms (in increments
of 3 ms)
3.0 ms to 30.0 ms (in incre-
ments of 3 ms)
Σ
-V SERVOPACK Ver-
sion
Restrictions
Lower than version 21
High-speed scan time set value
≤
(32
×
Communications cycle)
Example: If the MECHATROLINK-III communications cycle is 125
μ
s, the set value of
the high-speed scan time can be up to 4.0 ms (125
μ
s
×
32).
Version 21 or higher
High-speed scan time set value
≤
(254
×
Communications cycle)
Example: If the MECHATROLINK-III communications cycle is 125
μ
s, the set value of
the high-speed scan time can be up to 31.75 ms (125
μ
s
×
254).