Omron FQM1-MMP21 用户手册
94
Coordinator Module
Section 4-1
4-1-3
I/O Refreshing and Peripheral Servicing
I/O Refreshing
I/O refreshing updates general-purpose I/O status. All I/O is refreshed in the
same cycle (i.e., time slicing is not used). I/O refreshing is always performed
after program execution.
same cycle (i.e., time slicing is not used). I/O refreshing is always performed
after program execution.
Cyclic Refreshing
For cyclic refreshing, data is exchanged every cycle between predetermined
areas and the Motion Control Modules.
areas and the Motion Control Modules.
Peripheral Servicing
Peripheral servicing involves servicing non-scheduled events for external
devices. This includes both processing for service requests from external
devices and service requests to external devices. Most peripheral servicing
involves FINS commands.
devices. This includes both processing for service requests from external
devices and service requests to external devices. Most peripheral servicing
involves FINS commands.
The time specified in the system is allocated to each type of servicing and
executed every cycle. If the servicing is finished before the end of the allo-
cated time, the remaining time is not used and the next servicing is started.
executed every cycle. If the servicing is finished before the end of the allo-
cated time, the remaining time is not used and the next servicing is started.
Note
Servicing for Motion Control Modules, peripheral ports, RS-232C ports, and
RS-422A ports is allocated 6.25% of the immediately preceding cycle time by
default. If servicing is separated over more than one cycle, delaying comple-
tion of the servicing, set the actual amount of time for Set Time to All Events
(same time for all services) rather than a percentage on the Timer/Peripheral
Service Tab Page in the System Setup.
RS-422A ports is allocated 6.25% of the immediately preceding cycle time by
default. If servicing is separated over more than one cycle, delaying comple-
tion of the servicing, set the actual amount of time for Set Time to All Events
(same time for all services) rather than a percentage on the Timer/Peripheral
Service Tab Page in the System Setup.
4-1-4
Startup Initialization
The following initialization is performed once each time the power is turned
ON.
ON.
• Detecting mounted Modules
• Clearing the non-retained areas of I/O memory
• Clearing forced-set/reset status
• Performing self-diagnosis (user memory check)
• Restoring the user program
• Restoring retained DM Area data
Servicing
Contents
Motion Control Mod-
ule event servicing
ule event servicing
• Non-scheduled servicing for FINS commands from Motion
Control Modules.
• Non-scheduled servicing for FINS commands from the Coor-
dinator Module to the Motion Control Modules.
Peripheral port ser-
vicing
vicing
• Non-scheduled servicing for FINS or Host Link commands
received via the peripheral or RS-232C ports from the CX-
Programmer, PTs, or host computers (e.g., requests for pro-
gram transfer, monitoring, forced-set/reset operations, or
online editing).
Programmer, PTs, or host computers (e.g., requests for pro-
gram transfer, monitoring, forced-set/reset operations, or
online editing).
• Non-scheduled servicing from the Coordinator Module trans-
mitted from the peripheral or RS-232C port.
RS-232C port ser-
vicing
vicing
RS-422A port servic-
ing
ing
• Non-scheduled servicing to Servo Driver.