Omron FQM1-MMA21 Motion Control Modules, Section, Initialization at At power ON Common Processing

Motion Control Modules				Section 4-2
	Start operation (RUN mode entered)
	PROGRAM	Operation	Operation	Operation
Coordinator		(See note.)	(See note.)	(See note.)
Module		1 cycle later
		Start operation (RUN start)
Motion	PROGRAM	Program	Operation	Operation
			(See note.)	(See note.)
Control
Module	Cycle
		Note: "Operation" means either RUN or MONITOR mode.

Initialization at At power ON

Common Processing

Program Execution

Internal Module initialization (determining the operating mode, initializing user memory, clearing specified memory areas, checking for memory corruption, reading the System Setup, etc.) is performed and the bus that exchanges data with the Coordinator Module is initialized.

Common processing, which does not depend on special I/O, is performed.

The Motion Control Module's ladder program is executed. Basic I/O is refreshed whenever the IORF instruction is executed. Special I/O can also be refreshed for Modules with analog I/O.

Cycle Time

Calculation

Motion Control

Module Built-in I/O

Refreshing

The execution time for one cycle is monitored. If a constant cycle time is set, processing is performed to make the cycle time constant. (Refer to 5-6-1 Con- stant Cycle Time Function for information on constant cycle time processing.)

The following 3 types of built-in I/O refreshing are performed by Motion Con- trol Modules.

1,2,3... 1. Basic I/O Refreshing

Output bits to output contacts, inputs contacts to input bits

2.Special I/O Refreshing

Pulse inputs, pulse outputs, analog inputs, analog outputs, etc.

3.Coordinator Module Refreshing

Data exchange with Coordinator Module

Note (1) Special I/O refreshing refreshes high-speed counter present values and other special I/O.

(2)Motion Control Module built-in I/O refreshing is also executed in PRO- GRAM mode and during fatal errors (including FALS instructions) (input refresh only).

(3)Coordinator Module cyclic refreshing (allocated data exchange) is exe- cuted at the same time as the Coordinator Module scan processing. This refreshing exchanges data between the Coordinator Module and the Mo- tion Control Modules, so it is asynchronous with the Motion Control Mod- ule's cyclic refreshing. Coordinator Module cyclic refreshing is also executed in PROGRAM mode and during fatal errors (including FALS in- structions).

Peripheral Servicing Event servicing requests from the Coordinator Module are serviced.

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