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Motion Control Modules Section 4-2
Initialization at At
power ON
Internal Module initialization (determining the operating mode, initializing user
memory, clearing specified memory areas, checking for memory corruption,
reading the System Setup, etc.) is performed and the bus that exchanges data
with the Coordinator Module is initialized.
Common Processing Common processing, which does not depend on special I/O, is performed.
Program Execution The Motion Control Module's ladder program is executed. Basic I/O is
refreshed whenever the IORF instruction is executed. Special I/O can also be
refreshed for Modules with analog I/O.
Cycle Time
Calculation
The execution time for one cycle is monitored. If a constant cycle time is set,
processing is performed to make the cycle time constant. (Refer to 5-6-1 Con-
stant Cycle Time Function for information on constant cycle time processing.)
Motion Control
Module Built-in I/O
Refreshing
The following 3 types of built-in I/O refreshing are performed by Motion Con-
trol Modules.
1,2,3... 1. Basic I/O Refreshing
Output bits to output contacts, inputs contacts to input bits
2. Special I/O Refreshing
Pulse inputs, pulse outputs, analog inputs, analog outputs, etc.
3. Coordinator Module Refreshing
Data exchange with Coordinator Module
Note (1) Special I/O refreshing refreshes high-speed counter present values and
other special I/O.
(2) Motion Control Module built-in I/O refreshing is also executed in PRO-
GRAM mode and during fatal errors (including FALS instructions) (input
refresh only).
(3) Coordinator Module cyclic refreshing (allocated data exchange) is exe-
cuted at the same time as the Coordinator Module scan processing. This
refreshing exchanges data between the Coordinator Module and the Mo-
tion Control Modules, so it is asynchronous with the Motion Control Mod-
ule's cyclic refreshing. Coordinator Module cyclic refreshing is also
executed in PROGRAM mode and during fatal errors (including FALS in-
structions).
Peripheral Servicing Event servicing requests from the Coordinator Module are serviced.
Coordinator
Module
Motion
Control
Module
Start operation (RUN mode entered)
PROGRAM
PROGRAM
Operation
(See note.)
Operation
(See note.)
Operation
(See note.)
1 cycle later
Start operation (RUN start)
Program
Operation
(See note.)
Operation
(See note.)
Cycle
Note: "Operation" means either RUN or MONITOR mode.