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Motion Control Modules Section 4-2
Sync Mode Operation In Sync Mode, the Motion Control Module's cyclic scan is synced with the
Coordinator Module's cyclic scan or the sync cycle time set in the System
Setup. The program in each Motion Control Module is thus executed at the
same time.
When operation is synchronized to the Coordinator Module cycle scan, the
start of program execution in every cycle is the same for all Modules. When
operation is synchronized to the sync cycle time, the start of program execu-
tion in every cycle is the same for all Motion Control Modules.
Motion Control Modules send all synchronous data link bits to the Coordinator
Module and all other Motion Control Modules each Coordinator Module cyclic
scan or at the specified sync cycle time. (See note 1.)
Each Module can access the synchronous data link bits from all other Mod-
ules. (Refer to 5-4 Synchronous Data Refresh for details.)
Note (1) This depends on the sync cycle time set in the System Setup of the Co-
ordinator Module (0.1 to 10.0 ms, 0.1-ms increments).
(2) High-speed counter inputs, pulse outputs, or any other data can be set
for each Module.
!Caution When the Coordinator Module changes from PROGRAM mode to RUN or
MONITOR modes, the Motion Control Modules will switch to RUN or MONI-
TOR mode one cycle later. Similarly, when the Coordinator Module switches
from RUN or MONITOR modes to PROGRAM mode, the Motion Control Mod-
ules will switch one cycle later. The operating modes for all Motion Control
Modules will switch in the same cycle.
Motion Control Module
Initialization at power ON
Common processing
Program execution
I/O refreshing in Module
1. Basic I/O refreshing
2. Special I/O refreshing
3. Refreshing with
Coordinator Module
Peripheral servicing
Pulse or
analog
outputs (2)
Special I/O
Pulse
inputs (2)
or analog
input (1)
Basic
outputs
(8)
Basic
inputs
(12)
Basic I/O
Coordinator Module
Initialization at power ON
Common processing
Program execution
RUN/STOP and
other commands
General-purpose
I/O, e.g., status
Cyclic refreshing
Peripheral servicing
The cyclic refreshing with the Coordinator Module
is performed during the scan cycle of each Motion
Control Module and involves the asynchronous
read/write of shared memory.