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Programming Appendix A
Overview of Cycle Time Calculations
Coordinator Module
The cycle time of the Coordinator Module will vary with the following factors.
• Type and number of instructions in the user programs (in the cyclic task and within interrupt tasks for which
the execution conditions have been satisfied)
• Type and number of Motion Control Modules
• Setting a constant cycle time in the System Setup
• Event servicing with the Motion Control Modules
• Use of peripheral, RS-232C, and RS-422A ports
• Setting the Set Time to All Events in the System Setup
Note (1) The cycle time is not affected by the number of tasks that are used in the user program.
(2) When the mode is switched from MONITOR mode to RUN mode, the cycle time will be extended by
10 ms (this will not, however, will not create a cycle time exceeded error).
Motion Control Modules
The cycle time of the Motion Control Module will vary with the following factors.
• Type and number of instructions in the user programs (in the cyclic task and within interrupt tasks for which
the execution conditions have been satisfied)
• Setting a constant cycle time in the System Setup
• Event servicing with the Coordinator Module
Note (1) The cycle time is not affected by the number of tasks that are used in the user program.
(2) When the mode is switched from MONITOR mode to RUN mode, the cycle time will be extended by
10 ms (this will not, however, will not create a cycle time exceeded error).
Calculating the Cycle Time of the Coordinator Module
The cycle time is the total time required for the Coordinator Module to perform the operations shown in the fol-
lowing tables.
Cycle time = (1) + (2) + (3) + (4) + (5) + (6) + (7)
1. Overseeing Process
2. Program Execution
3. Cycle Time Calculation
4. I/O Refreshing
Details Processing time and fluctuation cause
Checks the buses, user program memory, etc. 39 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
Details Processing time and fluctuation cause
The built-in I/O on the Coordinator Module are refreshed. 5 µs
Coordinator Module I/O refresh time