Omron FQM1-MMP21 Computing the Cycle Time, FQM1 Operation Flowchart, Programming, Appendix A

Programming Appendix A

Computing the Cycle Time

FQM1 Operation Flowchart

The Coordinator Module and Motion Control Modules process data in repeating cycles from the overseeing processing up to peripheral servicing as shown in the following diagram.

Power ON

Checks Module connection status.

Startup initialization

NO

Sets error flags

Flashing (non- fatal error)

ERR indicator lit or

flashing?

Lit (fatal error)

Checks hardware and user program memory

Check OK?

YES

Executes user pro- gram (i.e., executes cyclic task).

NO

End of program?

YES

Resets watchdog timer and waits until the set cycle time has elapsed

Overseeing processing
Program execution	Cycle time
Cycletime calculation

Calculates cycle time

Performs I/O refreshing

Sync bus refreshing

Services Peripheral Devices

I/O refreshing
Sync bus	refreshing
Periph- eral	servic- ing

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