Mitsubishi Electric MELSEC iQ-F FX5 Series User Manual page 202

Feedback on the cyclic data sent by the Motion control module takes a minimum of three cycles.
No.0, No.1, No.2: Station No.0 (master station), station No.1, station No.2
(1) Sent from remote station
(2) Read received data
(3) Motion calculation
(4) Write send data
(5) Send to remote station
(1) Send processing from remote station
(2) Received data read processing
(3) Motion calculation processing
(4) Send data write processing
(5) Send processing to remote station
APPX
200
Appendix 4 Processing Time
Class B
No.0
Calculation
Motion control area
processing
No.1 RWr
(TPDO)
(2)
No.2 RWr
(TPDO)
(3)
No.1 RWw
(RPDO)
(4)
No.2 RWw
(RPDO)
Class B
No.1
No.1 RWr
(1)
(TPDO)
(1)
No.1 RWw
(5)
(RPDO)
(5)
Communication period
(1)
(2) (3) (4)
Class B
No.2
No.2 RWr
(TPDO)
No.2 RWw
(RPDO)
(5)