Relationship Between Process Data Communications Cycle And Motion Control Period - Omron NY532-1500 User Manual

2 Motion Control Configuration and Principles
User program in PLC
Function Module
Instructions
other than
motion control
instructions
Sequence
User-created
control
function block
Motion control
instructions
Motion control
Motion control
instructions
2-4-3 Relationship between Process Data Communications Cycle and
Motion Control Period
The PLC Function Module sends motion control commands to the MC Function Module when motion
control instructions are executed in the user program. The MC Function Module then performs motion
control processing based on those commands and sends the results of processing as commands to the
EtherCAT's Servo Drive or other device.
This type of data exchange is updated as shown in the following processing period.
• Primary period = Motion control period = Process data communications cycle for EtherCAT communi-
cations
Execution of user
program in PLC
Function Module
Sequence control period
*1 Since the sequence control period is primary period, the motion control period and the communications
cycle are also primary period.
2-14
CPU Unit
Executed
Executed
Executed
Exe-
cuted
MC Function Module
Profile processing
Exe-
Synchronization
cuted
processing
Other processing
Controller functions
Motion control processing
by MC Function Module
*1
Motion control
*1
period
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
EtherCAT
Task period EtherCAT
EtherCAT
Master
Function
Module
Task period
EtherCAT
*1
Communications cycle
(depends on the slave)
EtherCAT
slaves
EtherCAT slaves
Servo Driver or
encoder input
terminal
Position Interface
Units
Slaves
Processing in slave
Data refresh
period in slave