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Programming Appendix A
5. Sync Bus Refreshing
6. Cyclic Refreshing
7. Peripheral Service
Calculating the Cycle Time of a Motion Control Module
The cycle time is the total time required for the Motion Control Module to perform the operations shown in the
following tables.
Cycle time = (1) + (2) + (3) + (4) + (5) + (6) + (7)
1. Overseeing Process
2. Program Execution
3. Cycle Time Calculation
Details Processing time and fluctuation cause
The sync bus between the Coordinator Module and
Motion Control Modules is refreshed.
Async Mode: 0 µs
Sync Mode: 170 µs min. (depends on number of Motion
Control Modules)
Details Processing time and fluctuation cause
The allocated bit areas are refreshed. 4 µs + Cyclic refresh time (40 µs) x Number of Motion
Control Modules
Details Processing time and fluctuation cause
Peripheral service overhead: 76 µs
Event servicing with Motion Con-
trol Modules
Note Does not include I/O
refreshing.
If a uniform peripheral servicing time hasn’t been set as the Set Time to All
Events in the System Setup, 6.25% of the previous cycle time (calculated in step
(3)) will be allowed for peripheral servicing. If a uniform peripheral servicing time
has been set in the System Setup, servicing will be performed for the set time. At
least 0.1 ms, however, will be serviced whether the peripheral servicing time is
set or not. If no Modules are connected, the servicing time is 0 ms.
Peripheral port servicing If a uniform peripheral servicing time hasn’t been set as the Set Time to All
Events in the System Setup, 6.25% of the previous cycle time (calculated in step
(3)) will be allowed for peripheral servicing. If a uniform peripheral servicing time
has been set in the System Setup, servicing will be performed for the set time. At
least 0.1 ms, however, will be serviced whether the peripheral servicing time is
set or not. If the port is not connected, the servicing time is 0 ms.
RS-232C port servicing Same as for peripheral port servicing.
RS-422A port servicing If a uniform peripheral servicing time hasn’t been set as the Set Time to All
Events in the System Setup, 6.25% of the previous cycle time (calculated in step
(3)) will be allowed for peripheral servicing. If a uniform peripheral servicing time
has been set in the System Setup, servicing will be performed for the set time. At
least 0.1 ms, however, will be serviced whether the peripheral servicing time is
set or not. If the communications port is not used, the servicing time is 0 ms.
Details Processing time and fluctuation cause
User program check, etc. 29 µs
Details Processing time and fluctuation cause
Executes the user program. This is the total time taken for
the instructions to execute the program.
40 µs + total instruction execution time
Details Processing time and fluctuation cause
Waits for the specified cycle time to elapse when a con-
stant (minimum) cycle time has been set in the System
Setup. Calculates the cycle time.
Cycle time calculation: 8 µs
Waiting time for a constant cycle time =
Set cycle time − Actual cycle time (1 + 2 + 4 + 5)