4.3 Self Configuration
4.3.5 Setting the Scan Times
4-44
High-speed Scan Time Setting Restrictions
This section describes the restrictions on the setting of the high-speed scan time.
Restrictions Imposed by the MECHATROLINK-III Transmission Cycle of the Built-in
SVD Module
The high-speed scan of the CPU in the Controller Section is synchronized with the MECHA-
TROLINK-III transmission cycle of the SVC4 Function Module. This imposes the following
restrictions in the setting 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 manual for details.
Σ
-7-Series
Σ
-7C SERVOPACK Troubleshooting Manual (Manual No.: SIEP S800002 07)
Restrictions Imposed by
Σ
-V-Series SERVOPACKs Connected to the SVC4 Function
Module
The specifications of MECHATROLINK-III
Σ
−V-Series SERVOPACKs impose the following
restrictions on the setting 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.
I/O Processing
If the high-speed scan time is set to at least 0.5 ms, the I/O service (I/O processing) of the
MP2000 Option Module will be performed every scan.
The following figures show the timing results for these settings.
Transmis-
sion Cycle
High-speed Scan
Time Setting
Restrictions
Possible Settings
When the MP2000 Option Module
Is Not Used
When MP2000 Option Module Is
Used
125
μ
s
Integral multiple
of 250
μ
s
0.5 ms to 32.0 ms (in increments
of 0.250 ms)
0.5 ms to 32.0 ms (in increments of
0.5 ms)
250
μ
s
Integral multiple
of 250
μ
s
0.5 ms to 32.0 ms (in increments
of 0.250 ms)
0.5 ms to 32.0 ms (in increments of
0.5 ms)
500
μ
s
Integral multiple
of 500
μ
s
0.5 ms to 32.0 ms (in increments
of 0.5 ms)
0.5 ms to 32.0 ms (in increments of
0.5 ms)
1 ms
Integral multiple
of 1 ms or 1 times
the integer por-
tion
1.0 ms to 32.0 ms (in increments
of 1 ms)
1.0 ms to 32.0 ms (in increments of 1
ms)
Σ
-V SERVOPACK Ver-
sion
Restrictions
Lower than version 21
High-speed scan time setting
≤
(32 × Transmission cycle)
Example: If the MECHATROLINK-III transmission cycle is 125 μs, the setting 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 setting
≤
(254 × Transmission cycle)
Example: If the MECHATROLINK-III transmission cycle is 125 μs, the setting of the
high-speed scan time can be up to 31.75 ms (125
μ
s × 254).
