Omron FQM1-CM001, FQM1-MMA21, FQM1-MMP21 Motion Control Modules, Section, Sync Mode Operation

Motion Control Modules Section 4-2

Basic inputs (12)

Basic outputs

(8)

Pulse inputs (2) or analog input (1)

Pulse or analog outputs (2)

Motion Control Module

	Initialization at power ON
I/O	Common processing
Basic
	Program execution
	I/O refreshing in Module
	1.	Basic I/O refreshing
	2.	Special I/O refreshing
	3.	Refreshing with
Special I/O		Coordinator Module
	Peripheral servicing

RUN/STOP and other commands

General-purpose I/O, e.g., status

Coordinator Module

Initialization at power ON

Common processing

Program execution

Cyclic refreshing

Peripheral servicing

The cyclic refreshing with the Coordinator Module is performed during the scan cycle of each Motion Control Module and involves the asynchronous read/write of shared memory.

Sync Mode Operation	In Sync Mode, the Motion Control Module's cyclic scan is synced with the
	Coordinator Module's cyclic scan or the sync cycle time set in the System
	Setup. The program in each Motion Control Module is thus executed at the
	same time.
	When operation is synchronized to the Coordinator Module cycle scan, the
	start of program execution in every cycle is the same for all Modules. When
	operation is synchronized to the sync cycle time, the start of program execu-
	tion in every cycle is the same for all Motion Control Modules.
	Motion Control Modules send all synchronous data link bits to the Coordinator
	Module and all other Motion Control Modules each Coordinator Module cyclic
	scan or at the specified sync cycle time. (See note 1.)
	Each Module can access the synchronous data link bits from all other Mod-
	ules. (Refer to 5-4 Synchronous Data Refresh for details.)

Note (1) This depends on the sync cycle time set in the System Setup of the Co- ordinator Module (0.1 to 10.0 ms, 0.1-ms increments).

(2)High-speed counter inputs, pulse outputs, or any other data can be set for each Module.

!Caution When the Coordinator Module changes from PROGRAM mode to RUN or MONITOR modes, the Motion Control Modules will switch to RUN or MONI- TOR mode one cycle later. Similarly, when the Coordinator Module switches from RUN or MONITOR modes to PROGRAM mode, the Motion Control Mod- ules will switch one cycle later. The operating modes for all Motion Control Modules will switch in the same cycle.

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