YASKAWA JEPMC-PSA3012-E User Manual

Also see for JEPMC-BUB3003-E, JEPMC-BUB3005-E, JEPMC-BUB3008-E: Instructions Instructions

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YASKAWA JEPMC-PSA3012-E User Manual Manual pdf 158 page image

3.3 Multi-CPU FunctionsSlave CPU Synchronization3-108Scan Overhead Guidelines When Using Sub CPU SynchronizationThis section provides guidelines for the scan overhead times for the sizes of CPU interface registers forhigh-speed and low-speed scans. CPU Interface Registers for High-speed ScanThis section describes the data transfer timing for CPU interface registers for the high-speed scans.If the time set for the high-speed scan in the CPU Unit is shorter than the overhead time, a scan exceedederror will occur and SW00044 (H Scan Exceeded Count) will be incremented. If that occurs, adjust thehigh-speed scan set value based on the above table.The following figure illustrates high-speed scan processing. CPU Interface Registers for Low-speed ScanThe following table gives approximate times for the low-speed scan overhead that is required for differentsizes of CPU interface registers for the low-speed scan.If the time set for the low-speed scan in the CPU Unit is shorter than the overhead time, a scan exceedederror will occur and SW00046 (L Scan Exceeded Count) will be incremented. If that occurs, adjust thelow-speed scan set value based on the above table.The following figure illustrates low-speed scan processing.Slave CPU SynchronizationRefer to the following manual for details on slave CPU synchronization.MP3000 Series Motion Control User’s Manual (Manual No.: SIEP C880725 11)Item I/O Size512 Words 1,024 Words 2,048 WordsGuideline Times for CPU InterfaceOverhead 25 μs 50 μs 100 μsItem I/O Size512 Words 1,024 Words 2,048 WordsGuideline Times for CPU Interface Overhead 100 μs 200 μs 300 μsCPU interface DWG.HSVC processing(status)SVC processing(motion processing)Current high-speed scan timeOverhead timeHigh-speed scan set valueCPU interfaceHigh-speed scanCPU interface DWG.LCurrent low-speed scan timeOverhead timeLow-speed scan set valueCPU interfaceLow-speed scan