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12 MONITOR FUNCTION OF THE MAIN CYCLE
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12. MONITOR FUNCTION OF THE MAIN CYCLE
(1) Information for main cycle of the Motion CPU processing (process cycle executed
at free time except for motion control) is stored to the special register.
(2) Since the automatic refresh of shared CPU memory and Motion program are
executed in the main cycle, make it reference for process time, etc. to program.
(3) There are following methods to shorten a main cycle.
(a) Lengthen an operation cycle setting.
(b) Reduce the number of Motion programs to execute simultaneously.
(c) Reduce the number of automatic refresh points of shared CPU memory.
(4) When a main cycle is lengthened (more than 1.6[s]), a WDT error may occur in
the Motion CPU.
(5) Details of main cycle monitor register is shown below.
No. Name Meaning Details
D9017 Scan time
Current scan time
(1ms units)
• Current scan time is stored in the unit 1[ms].
• Setting range (0 to 65535[ms])
D9019 Maximum scan time
Maximum scan time
(1ms units)
• Maximum main cycle is stored in the unit 1[ms].
• Setting range (0 to 65535[ms])
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