Omron FQM1-MMA21, FQM1-CM001, FQM1-MMP21 operation manual Programming, Appendix A

Programming				Appendix A
5.	Sync Bus Refreshing
	Details			Processing time and fluctuation cause
	The sync bus between the Coordinator Module and			Async Mode: 0 ∝s
	Motion Control Modules is refreshed.			Sync Mode: 170 ∝s min. (depends on number of Motion
				Control Modules)
6.	Cyclic Refreshing
	Details			Processing time and fluctuation cause
	The allocated bit areas are refreshed.			4 ∝s + Cyclic refresh time (40 ∝s) x Number of Motion
				Control Modules
7.	Peripheral Service
	Details		Processing time and fluctuation cause
	Peripheral service overhead: 76 ∝s	If a uniform peripheral servicing time hasn’t been set as the Set Time to All
	Event servicing with Motion Con-	Events in the System Setup, 6.25% of the previous cycle time (calculated in step
		(3)) will be allowed for peripheral servicing. If a uniform peripheral servicing time
	trol Modules
		has been set in the System Setup, servicing will be performed for the set time. At
	Note Does not include I/O
		least 0.1 ms, however, will be serviced whether the peripheral servicing time is
	refreshing.
		set or not. If no Modules are connected, the servicing time is 0 ms.
	Peripheral port servicing	If a uniform peripheral servicing time hasn’t been set as the Set Time to All
		Events in the System Setup, 6.25% of the previous cycle time (calculated in step
		(3)) will be allowed for peripheral servicing. If a uniform peripheral servicing time
		has been set in the System Setup, servicing will be performed for the set time. At
		least 0.1 ms, however, will be serviced whether the peripheral servicing time is
		set or not. If the port is not connected, the servicing time is 0 ms.
	RS-232C port servicing	Same as for peripheral port servicing.
	RS-422A port servicing	If a uniform peripheral servicing time hasn’t been set as the Set Time to All
		Events in the System Setup, 6.25% of the previous cycle time (calculated in step
		(3)) will be allowed for peripheral servicing. If a uniform peripheral servicing time
		has been set in the System Setup, servicing will be performed for the set time. At
		least 0.1 ms, however, will be serviced whether the peripheral servicing time is
		set or not. If the communications port is not used, the servicing time is 0 ms.

Calculating the Cycle Time of a Motion Control Module

The cycle time is the total time required for the Motion Control Module to perform the operations shown in the following tables.

Cycle time = (1) + (2) + (3) + (4) + (5) + (6) + (7)

1.	Overseeing Process
	Details	Processing time and fluctuation cause
	User program check, etc.	29 ∝s
2.	Program Execution
	Details	Processing time and fluctuation cause
	Executes the user program. This is the total time taken for	40 ∝s + total instruction execution time
	the instructions to execute the program.
3.	Cycle Time Calculation
	Details	Processing time and fluctuation cause
	Waits for the specified cycle time to elapse when a con-	Cycle time calculation: 8 ∝s
	stant (minimum) cycle time has been set in the System	Waiting time for a constant cycle time =
	Setup. Calculates the cycle time.
		Set cycle time − Actual cycle time (1 + 2 + 4 + 5)

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