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17 MONITOR FUNCTION OF THE MAIN CYCLE
17
17. MONITOR FUNCTION OF THE MAIN CYCLE
Refer to Section "1.3.4" for the correspondence version of the Motion CPU and the
software.
(1) Information for main cycle of the Motion CPU processing (process cycle executed
at free time except for motion control) is stored to the special register.
(2) Since the automatic refresh of shared CPU memory and normal task of Motion
SFC program are executed in the main cycle, make it reference for process time,
etc. to program.
(3) There are following methods to shorten a main cycle.
(a) Lengthen an operation cycle setting.
(b) Reduce the number of event task programs to execute in the Motion SFC
program.
(c) Reduce the number of normal task programs to execute simultaneously in
the Motion SFC program.
(d) Reduce the number of automatic refresh points of shared CPU memory.
(4) When a main cycle is lengthened (more than 1.6[s]), a WDT error may occur in
the Motion CPU.
(5) Details of main cycle monitor register is shown below.
No. Name Meaning Details
D9017 Scan time
Current scan time
(1ms units)
• Current scan time is stored in the unit 1[ms].
• Setting range (0 to 65535[ms])
D9019 Maximum scan time
Maximum scan time
(1ms units)
• Maximum main cycle is stored in the unit 1[ms].
• Setting range (0 to 65535[ms])