Omron FQM1-CM001, FQM1-MMA21 3 I/O Refreshing and Peripheral Servicing, Startup Initialization

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.

Cyclic Refreshing

Peripheral Servicing

For cyclic refreshing, data is exchanged every cycle between predetermined areas and the Motion Control Modules.

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.

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.

Servicing	Contents
Motion Control Mod-	• Non-scheduled servicing for FINS commands from Motion
ule event servicing	Control Modules.
	• Non-scheduled servicing for FINS commands from the Coor-
	dinator Module to the Motion Control Modules.
Peripheral port ser-	• Non-scheduled servicing for FINS or Host Link commands
vicing	received via the peripheral or RS-232C ports from the CX-
	Programmer, PTs, or host computers (e.g., requests for pro-
RS-232C port ser-
	gram transfer, monitoring, forced-set/reset operations, or
vicing
	online editing).
	• Non-scheduled servicing from the Coordinator Module trans-
	mitted from the peripheral or RS-232C port.
RS-422A port servic-	• Non-scheduled servicing to Servo Driver.
ing

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.

4-1-4 Startup Initialization

The following initialization is performed once each time the power is turned

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

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