Omron FQM1-MMA21 Programming, Appendix A, Motion Control Module Interrupt Processing Times

Programming Appendix A

Input

Interrupt signal accepted

Interrupt task executed

Cyclic task execution (main program)

		Input ON delay time
					Accepting next
					interrupt signal
		Software interrupt response time			enabled
			Task program
	Input interrupt task			Return time from
interrupt response time			execution time	input interrupt task

61 ∝s is required from when execution of input interrupt task program is completed until returning to cyclic task execution.

Scheduled Interrupt Task

The interrupt response time of scheduled interrupt tasks is the time taken from after the scheduled time speci- fied by the STIM(980) instruction has elapsed until the interrupt task is actually executed. The maximum inter- rupt response time for scheduled interrupt tasks is 0.1 ms.

Also, a dedicated timer is used for the specified scheduled interrupt time (minimum of 0.5 ms), so there is essentially no error in the time.

Note Scheduled interrupt tasks can be executed during execution of the user program, I/O refresh, peripheral servicing, or overseeing processes. (During user program execution, instruction execution is suspended to execute the interrupt task.) The response time is not affected by the type of process being executed when the input interrupt is generated. A schedule interrupt task, however, will not be executed immedi- ately if another interrupt task is already being executed. Execution of the next scheduled interrupt task will wait until the current interrupt task has completed execution and then start after the software inter- rupt response time.

Scheduled interrupt time

Internal timer

Software interrupt response time

Scheduled interrupt task

Motion Control Module Interrupt Processing Times

This section describes the processing time required to generate the interrupt and call the interrupt task, and the processing time to return to the original location after completing the interrupt task. This information applies to the following four types of interrupt.

•Input interrupts

•Interval timer interrupts

•High-speed counter interrupts

•Pulse output interrupts

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