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Programming Appendix A
4. I/O Refreshing
5. Cyclic Refreshing
6. Sync Bus Refreshing
7. Peripheral Service
Module I/O Refresh Times
Cyclic Refresh Time in the Coordinator Module
Cyclic Refresh Time in Motion Control Modules
Details Processing time and fluctuation cause
The built-in I/O and special inputs (pulse/analog) on the
Motion Control Module are refreshed.
MMP21: 48 µs
MMA21: 135 µs
Motion Control Module I/O refresh time
Details Processing time and fluctuation cause
Cyclic refresh with the Coordinator Module 21 µs
Details Processing time and fluctuation cause
The sync bus between the Coordinator Module and
Motion Control Modules is refreshed.
60 µs
Details Processing time and fluctuation cause
Event servicing with Motion Con-
trol Modules
40 µs + Event service time
Event service time includes event servicing for DM area transfers requested by
the Coordinator Module, event processing for requests from the CX-Program-
mer, etc.
Model I/O refresh time
FQM1-MMP21/MMA21 40 µs per Module
Model I/O refresh time
FQM1-MMP21/MMA21 21 µs