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6.4 Multiple CPU Synchronous Interrupt
This function executes interrupt programs (multiple CPU synchronous interrupt programs) at the start timing of each
multiple CPU high speed transmission cycle. The function enables data communications among CPU modules in
synchronization with the multiple CPU high speed transmission cycles.
Since the multiple CPU high speed transmission cycles are synchronized with the Motion CPU operation cycles, use of
the function enables faster responses to the requests from a Motion CPU and sequence program execution
synchronized with the Motion CPU operation cycles.
(1) Multiple CPU synchronous interrupt programs
Multiple CPU synchronous interrupt program is a program using an interrupt pointer (I45). A sequence of
instructions from an interrupt pointer (I45) to the IRET instruction is a multiple CPU synchronous interrupt
program.
To execute multiple CPU synchronous interrupt programs, enable the execution of interrupt programs using the
EI instruction.
*1*2
*1 The setting is not required on the Motion CPU side.
*2 Register the routine corresponding to the multiple CPU synchronous interrupt using the bus interface function of the C
Controller module. ( Manual for the C Controller module used)
(2) Execution timing
Multiple CPU synchronous interrupt programs are executed at the start timing of each multiple CPU high speed
transmission cycle.
Multiple CPU high speed
transmission
Interrupt request
Program
Multiple CPU synchronous
interrupt program
0.88ms
I45 IRET
END 0
I45 IRET
END
I45 IRET
0
I45 IRET
END 0
I45 IRET
Multiple CPU high speed transmission cycle