Mitsubishi Electric MELSEC iQ-R Series User manual

MELSEC iQ-R Inter-Module Synchronization
Function
Reference Manual

1
SAFETY PRECAUTIONS
(Read these precautions before using this product.)
Before using MELSEC iQ-R series programmable controllers, please read the manuals for the product and the relevant
manuals introduced in those manuals carefully, and pay full attention to safety to handle the product correctly.
Make sure that the end users read this manual and then keep the manual in a safe place for future reference.
CONDITIONS OF USE FOR THE PRODUCT
(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions;
i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident;
and
ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the
case of any problem, fault or failure occurring in the PRODUCT.
(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries.
MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL
RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY
INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE
OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR
WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL
BULLETINS AND GUIDELINES FOR the PRODUCT.
("Prohibited Application")
Prohibited Applications include, but not limited to, the use of the PRODUCT in;
• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the
public could be affected if any problem or fault occurs in the PRODUCT.
• Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality
assurance system is required by the Purchaser or End User.
• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator,
Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and
Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other
applications where there is a significant risk of injury to the public or property.
Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or
more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific
applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or
other safety features which exceed the general specifications of the PRODUCTs are required. For details, please
contact the Mitsubishi representative in your region.

2
INTRODUCTION
Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers.
This manual describes the inter-module synchronization function, which controls multiple modules synchronously.
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the
functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly.
When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it
will not cause system control problems.
Please make sure that the end users read this manual.
Where a reference to the GX Works3 Operating Manual or the MELSEC iQ-R CPU Module User's Manual
(Startup or Application) is given, the reference should be made to the following instead:
CW Configurator Operating Manual
MELSEC iQ-R C Controller Module User's Manual (Startup)
MELSEC iQ-R C Controller Module User's Manual (Application)

3
CONTENTS
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
GENERIC TERMS AND ABBREVIATIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
CHAPTER 1 OVERVIEW 6
CHAPTER 2 SYSTEM CONFIGURATION 8
2.1 Precautions for System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Inter-module synchronous master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Configuration Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
CHAPTER 3 SPECIFICATIONS 12
3.1 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Inter-module synchronization accuracy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
CHAPTER 4 PROCEDURES BEFORE OPERATION 14
CHAPTER 5 FUNCTION 16
5.1 Fixed Cycle Synchronization Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Timing for synchronizing CPU modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Timing to synchronize each module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Coordination with multiple CPU system function's fixed scan communication cycle. . . . . . . . . . . . . . . . . . . . . . 27
CC-Link IE Field Network synchronous communication function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
CHAPTER 6 PARAMETER SETTINGS 34
6.1 Inter-Module Synchronization Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.2 Multiple CPU Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
6.3 Settings in CC-Link IE Field Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
CHAPTER 7 PROGRAM EXAMPLES 38
7.1 For Single CPU System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Programming condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Applicable labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
7.2 For Network Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Applicable labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
CHAPTER 8 TROUBLESHOOTING 46
8.1 Error Processing and Recovery Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Inter-module synchronous interrupt program does not run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

4
A specific module is not synchronized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
8.2 RAS Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Inter-module synchronous interrupt program execution time monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Inter-module synchronization signal error monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Monitor of output exceeding inter-module synchronization cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Cyclic monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
APPENDIX 49
Appendix 1 Processing Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Overhead time for executing interrupt program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Refresh processing time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Instruction processing time in interrupt program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
INDEX 50
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

5
RELEVANT MANUALS
e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated
tool. e-Manual has the following features:
• Required information can be cross-searched in multiple manuals.
• Other manuals can be accessed from the links in the manual.
• The hardware specifications of each part can be found from the product figures.
• Pages that users often browse can be bookmarked.
• Sample programs can be copied to an engineering tool.
TERMS
Unless otherwise specified, this manual uses the following terms.
GENERIC TERMS AND ABBREVIATIONS
Unless otherwise specified, this manual uses the following generic terms and abbreviations.
Manual name [manual number] Description Available form
MELSEC iQ-R Inter-Module Synchronization Function
Reference Manual
[SH-081401ENG] (this manual)
Inter-module synchronization function, which controls multiple
modules synchronously
e-Manual
PDF
MELSEC iQ-R CPU Module User's Manual (Startup)
[SH-081263ENG]
Specifications, procedures before operation, and
troubleshooting of the CPU module
Print book
e-Manual
PDF
MELSEC iQ-R CC-Link IE Field Network Remote Head
Module User's Manual (Startup)
[SH-081614ENG]
Specifications, procedures before operation, system
configuration, wiring, and communication examples of the
CC-Link IE Field Network remote head module
Print book
e-Manual
PDF
MELSEC iQ-R C Controller Module User's Manual
(Application)
[SH-081369ENG]
Functions, devices, and parameters of C Controller module Print book
e-Manual
PDF
Term Description
Intelligent function module A module that has functions other than input and output, such as an A/D converter module and D/A converter module
Engineering tool A tool used for setting up programmable controllers, programming, debugging, and maintenance
Control CPU A CPU module that controls connected I/O modules and intelligent function modules. In a multiple CPU system, there are
multiple CPU modules and each connected module can be controlled by a different CPU module.
Global label A label that is valid for all the program data when multiple program data are created in the project. The global label has two
types: a module specific label (module label), which is generated automatically by GX Works3, and an optional label,
which can be created for any specified device.
Cyclic transmission A function by which data are periodically exchanged among stations on the network using link devices
Device A memory of a CPU module to store data. Devices such as X, Y, M, D, and others are provided depending on the intended
use.
Module label A label that represents one of memory areas (I/O signals and buffer memory areas) specific to each module in a given
character string. For the module used, GX Works3 automatically generates this label, which can be used as a global label.
Link scan time Time required for all the stations on the network to transmit data.
Link device A device (RX, RY, RWr, RWw, SB, SW) in a module on CC-Link IE Field Network
Generic term and abbreviation Description
A/D converter module A MELSEC iQ-R series analog-digital converter module and high speed analog-digital converter module
CPU module A MELSEC iQ-R series CPU module
C Controller module A MELSEC iQ-R series C Controller module
D/A converter module A MELSEC iQ-R series digital-analog converter module and high speed digital-analog converter module
RAS Reliability, Availability, Serviceability. This term refers to the overall usability of automated equipment.
Remote head module An RJ72GF15-T2 CC-Link IE Field Network remote head module

61 OVERVIEW
1OVERVIEW
The inter-module synchronization function adjusts the control timing for the signals between multiple modules. When this
function is used, the synchronization target module can match the input or output timing to the inter-module synchronization
cycle. The inter-module synchronization cycle is a fixed scan interval for the inter-module synchronization function. The
multiple CPU system function's fixed communication interval and the CC-Link IE Field Network synchronous communication
function can be coordinated with the inter-module synchronization cycle.
(1) Refreshing is executed before and after the inter-module synchronous interrupt program (I44).
(2) The input process and output process are performed at the timing of the inter-module synchronization cycle.
(1)
(2)
(1)
Input
Operation processing Operation processingOperation processing
Output
Input
Output
Input
Output
Input
Output
Inter-module
synchronization cycle
Inter-module
synchronization cycle
Programmable
controller CPU
Output
Input
Output
Input
A/D converter module
(set as a synchronization target)
D/A converter module
(set as a synchronization target)
Output
conversion
Output
conversion
Input module
(set as a synchronization target)
Output module
(set as a synchronization target)
A/D converter module
D/A converter module
Output module
Input module
Programmable
controller CPU
Program
Inter-module synchronous
interrupt program (I44)

1 OVERVIEW
7
1
MEMO

82 SYSTEM CONFIGURATION
2.1 Precautions for System Configuration
2SYSTEM CONFIGURATION
Shows the system configuration for the inter-module synchronization function.
2.1 Precautions for System Configuration
Lists precautions for configuring the inter-module synchronization function system.
*1 This is not restricted by the module mounting position, maximum number of mountable modules, or the number of CPU modules when
using a multiple CPU system configuration. (Same as when not using the inter-module synchronization function.) (MELSEC iQ-R
Module Configuration Manual)
*2 In the multiple CPU system, the inter-module synchronization function can be used only by the network module controlled by the CPU
No.1.
*3 If the local station is designated as the module targeted for the inter-module synchronization function, the master station on the same
base unit as the local station cannot be set as a module targeted for the inter-module synchronization function.
*4 A hub compatible with the inter-module synchronization function must be used. (MELSEC iQ-R Ethernet/CC-Link IE User's Manual
(Startup))
*5 Shows the type of station that can be selected with the station type setting. (MELSEC iQ-R CC-Link IE Field Network User's Manual
(Application))
*6 To use the module on the local station as the synchronization target module, Inter-module Synchronization Master Setting is required.
(Page 9 Inter-module synchronous master, Page 34 Inter-Module Synchronization Setting)
Item Description
Modules targeted for inter-module synchronization function*1 This function can be used only with the MELSEC iQ-R Series modules.
(Page 10 Configuration Devices)
For
configuration
that uses the
network
module as the
synchronization
target module.
Network compatible with inter-module synchronization
function
Only CC-Link IE Field Network
Number of network modules that can be specified as
target module for inter-module synchronization function
(Per station include those on extension base unit.)*2*3
• Master station modules: 8 modules
• Local station modules: 1 module*6
Network transmission path format compatible with inter-
module synchronization function
Only the following network topology can be used.
• Line topology
• Star topology*4
• Line topology and star topology combination*4
Mounting position of local station module in
synchronization target network module
The local station can be mounted only on the main base unit. (Local stations on
the extension base unit cannot be synchronized.)
Types of stations supported with inter-module
synchronization function*5
Only master station and local station
Time required for inter-module synchronization function
to start (rising edge)
Max. 20 seconds
Master station
Master stationLocal station
Local station

2 SYSTEM CONFIGURATION
2.1 Precautions for System Configuration 9
2
Inter-module synchronous master
The inter-module synchronous master is a module that issues the inter-module synchronization command. Normally, the CPU
module becomes the inter-module synchronous master. (For the multiple CPU system configuration, the CPU module on the
extreme left, for which "Use" is set in "Use Inter-module Synchronization Function in System" of "Inter-module
Synchronization Setting", becomes the inter-module synchronous master.) Note that if a module on the local station or a
remote head module is used as the synchronization target, the inter-module synchronous master is as follows because the
CC-Link IE Field Network module on the local station and the remote head module operate by receiving the command from
the master station.
• When a module on the local station is used as the synchronization target: The network module becomes the inter-module
synchronous master.
• When a remote head module is used as the synchronization target: The remote head module becomes the inter-module
synchronous master.
Inter-module synchronization command
Inter-module synchronization command
Inter-module synchronization command
Normally, the CPU module becomes
the inter-module synchronous master
and issues the inter-module
synchronization command.
On the local station, the Network module receives
the command from the master station, and issues
the inter-module synchronization command as
the inter-module synchronous master.
The Network module sends
the inter-module synchronization
command to each station.
Slave station Slave station
Local station
Master station

10 2 SYSTEM CONFIGURATION
2.2 Configuration Devices
2.2 Configuration Devices
Shows the modules that can be synchronously controlled with the inter-module synchronization function.
Part name Model name
CPU module Programmable controller CPU • R00CPU
•R01CPU
•R02CPU
•R04CPU
• R04ENCPU
•R08CPU
• R08ENCPU
•R16CPU
• R16ENCPU
•R32CPU
• R32ENCPU
• R120CPU
• R120ENCPU
Process CPU (process mode) • R08PCPU
• R16PCPU
• R32PCPU
• R120PCPU
Safety CPU*2 •R08SFCPU
•R16SFCPU
•R32SFCPU
• R120SFCPU
Motion CPU • R16MTCPU
•R32MTCPU
C Controller module R12CCPU-V
Remote head module RJ72GF15-T2
Network module Master/local module • RJ71GF11-T2
• RJ71EN71*1
I/O module AC input module • RX10
•RX10-TS
•RX28
DC input module • RX40C7
•RX40C7-TS
•RX41C4
•RX41C4-TS
•RX70C4
•RX71C4
DC high-speed input module • RX40PC6H
• RX40NC6H
•RX41C6HS
•RX61C6HS
Input module with diagnostic functions RX40NC6B
Contact output module • RY10R2
•RY10R2-TS
•RY18R2A
Triac output module RY20S6
Transistor output module • RY40NT5P
• RY40NT5P-TS
•RY41NT2P
• RY41NT2P-TS
•RY40PT5P
• RY40PT5P-TS
•RY41PT1P
• RY41PT1P-TS
Transistor high-speed output module • RY41NT2H
•RY41PT2H
Output module with diagnostic functions RY40PT5B

2 SYSTEM CONFIGURATION
2.2 Configuration Devices 11
2
*1 Usable only when operating as the CC-Link IE Field Network.
*2 The inter-module synchronization function cannot be used for the multiple CPU system configured with a combination of a Safety CPU
and a Motion CPU or with a combination of a Safety CPU and a C Controller module.
A module other than those listed in the table can be mounted on the system as long as it is not a module that
is synchronously controlled with the inter-module synchronization function.
Intelligent function module A/D converter module • R60AD4
•R60ADI8
• R60ADV8
• R60ADH4
D/A converter module • R60DA4
•R60DAI8
•R60DAV8
• R60DAH4
Simple motion module • RD77MS2
• RD77MS4
• RD77MS8
• RD77MS16
• RD77GF4
• RD77GF8
• RD77GF16
High-speed counter module • RD62P2
• RD62D2
• RD62P2E
Flexible high-speed I/O control module RD40PD01
Positioning module • RD75P2
• RD75P4
• RD75D2
• RD75D4
Part name Model name

12 3 SPECIFICATIONS
3.1 Performance Specifications
3SPECIFICATIONS
Shows the specifications for the inter-module synchronization function.
3.1 Performance Specifications
Shows the performance specifications for the inter-module synchronization function.
Set the inter-module synchronization cycle to satisfy the following condition.
• Inter-module synchronization cycle > inter-module synchronous interrupt program execution time + output
preparation process time of the output module
When using a Safety CPU, set the inter-module synchronization cycle considering the safety cycle process
time since the safety cycle process is prioritized over the inter-module synchronization in the Safety CPU.
• Inter-module synchronization cycle > inter-module synchronous interrupt program execution time + output
preparation process time of the output module + safety cycle process time
Inter-module synchronization accuracy
The accuracy is the difference that each module recognizes the synchronization point and the time of the synchronization
point. In the case of the following output module, the inter-module synchronization accuracy is Tmax-T0 in the positive
direction, and T0-Tmin in the negative direction.
The actual external output is output with the following time lag.
Inter-module synchronization accuracy + output module response time (Tres)
• Each module starts the process at the inter-module synchronization functions' start timing, so the input or
output is made after the response time from that inter-module synchronization function's start timing.
• For details on each module's response time (Tres), refer to each module's manual.
Item Performance value
Inter-module synchronization cycle • R00CPU, R01CPU, R02CPU: 0.50 to 10.00ms
• Safety CPU: 1.00 to 10.00ms
• CPU modules other than the above: 0.10 to 10.00ms
Inter-module synchronization accuracy Calculate the accuracy with the inter-module synchronization accuracy formula. (Page 13 Inter-module
synchronization accuracy calculation formula)
• T: Inter-module synchronization accuracy
•T
0: Synchronization point time
•T
min: Time that an output module recognizes synchronization point
(Min.)
•T
max: Time that an output module recognizes synchronization
point (Max.)
•T
cyc: Inter-module synchronization cycle
•T
res: Output module response time
OFF
OFF
ON
ON
T0
Tmin
Tcyc Tcyc
Tmax
Tres
T
Tres
Output for when the
inter-module synchronization
accuracy of the output
module is maximum
(in the negative direction)
Output for when the
inter-module synchronization
accuracy of the output
module is maximum
(in the positive direction)

3 SPECIFICATIONS
3.1 Performance Specifications 13
3
Inter-module synchronization accuracy calculation formula
Shows the calculation formula for the inter-module synchronization accuracy. Use as a guide to set the inter-module
synchronization cycle.
■When not going through a network module
T=Tcyc2.410-4+Nr80+150
• T: Inter-module synchronization accuracy (ns)
•T
cyc: Inter-module synchronization cycle (ns)
•N
r: Number of stages in extension base unit in which the module for calculating the inter-module synchronization accuracy
is mounted*1
*1 This is 0 for the main base unit.
■When going through network module
T=Tcyc2.410-4+Nr80+Ns12+700
• T: Inter-module synchronization accuracy (ns)
•T
cyc: Inter-module synchronization cycle (ns)
•N
r: Number of stages in extension base unit in which the module for calculating the inter-module synchronization accuracy
is mounted*1
•N
s: Number of transit stations from the master station in which the module for calculating the inter-module synchronization
accuracy +1*2
*1 This is 0 for the main base unit.
*2 The number of relay stations from the master station refers to the number of stations physically related from the master station to the
relevant station when using the following type of line topology or line topology/star topology combination.
Obtain the inter-module synchronization accuracy for the module mounted in the master station with the
"When not going through network module" method.
Number of relay stations
from the master station: 0
Number of relay stations
from the master station: 1
Number of relay stations
from the master station: 2
Number of relay stations
from the master station: 0
Number of relay stations
from the master station: 1
Master
station
Slave
station
Slave
station
Slave
station
Slave
station
Slave
station

14 4 PROCEDURES BEFORE OPERATION
4PROCEDURES BEFORE OPERATION
This section describes the procedures for using the inter-module synchronization function.
1. Starting up the engineering tool
Connect the personal computer in which the engineering tool is installed to the CPU module or remote head module, and start
up the engineering tool. (GX Works3 Operating Manual)
For details on the preparations for starting up the engineering tool (mounting the modules, wiring each device,
turning the system power ON, etc.), refer to the following.
MELSEC iQ-R CPU Module User's Manual (Startup)
MELSEC iQ-R CC-Link IE Field Network Remote Head Module User's Manual (Startup)
2. Setting the applicable system
Set the system used in the unit configuration drawing. (GX Works3 Operating Manual) When using the multiple CPU
system configuration, set the system parameters for all CPU modules. (MELSEC iQ-R CPU Module User's Manual
(Application))
3. Setting the inter-module synchronization function
Set the parameters required for using the inter-module synchronization function.
• Inter-module synchronization setting (Page 34 Inter-Module Synchronization Setting)
• If necessary, set the CPU parameters and module parameters. (Manual for each module)
• To coordinate the multiple CPU system function's fixed scan communication cycle with the inter-module synchronization
cycle, set the fixed scan communication setting. (Page 36 Multiple CPU Settings)
• To coordinate the CC-Link IE Field Network synchronous communication function with the inter-module synchronization
cycle, set the CC-Link IE Field Network master station. (Page 37 Settings in CC-Link IE Field Network)
4. Programming
Create the inter-module synchronous interrupt program. To exchange the data used with the inter-module synchronization
function between the multiple CPU systems, create a program for exchanging data.
5. RAS setting
If necessary, set to monitor the inter-module synchronous interrupt program's execution time. (Page 48 Inter-module
synchronous interrupt program execution time monitor)
6. Writing the parameters and programs
Write the parameters set with the engineering tool and the created program into the CPU module or remote head module*1.
(GX Works3 Operating Manual) When using the multiple CPU system configuration, the parameter settings and program
must be written into each CPU module for CPU No. 2 to 4.
*1 Programs cannot be written into the remote head module. Write programs to the CPU module on the master station.
7. Restarting the system
Restart the system with one of the following methods.
•PowerOFFONRUN
• Reset the CPU module or remote head module RUN
8. Monitoring and diagnosis
If necessary, confirm the operation of the inter-module synchronization function with the system monitor or the interrupt
program monitor list for each CPU module. (Page 46 Error Processing and Recovery Methods)

4 PROCEDURES BEFORE OPERATION
15
4
MEMO

16 5 FUNCTION
5.1 Fixed Cycle Synchronization Function
5FUNCTION
Shows the details of the inter-module synchronization function.
5.1 Fixed Cycle Synchronization Function
Multiple modules are synchronized at the inter-module synchronization cycle timing set with the parameters. The data is
exchanged and the input/output is control at a fixed cycle. By using this function, the encoder input can be collected at a fixed-
time so data is retrieved at an accurate speed. In addition, the input/output timing is accurately known so highly accurate
model prediction control is possible.
Timing for synchronizing CPU modules
The CPU modules execute an inter-module synchronous interrupt program at each inter-module synchronization cycle.
(Page 17 Inter-module synchronous interrupt) The CPU module and each module are synchronized by refreshing. This is
performed before or after the inter-module synchronous interrupt program. With this, the input data can be retrieved and the
output data can be written at the inter-module synchronization cycle timing.
When using C Controller module, refer to the following manual.
MELSEC iQ-R C Controller Module User's Manual (Application)
• The CC-Link IE Field Network module's input signal (X) and output signal (Y) are refreshed at the END
process.
• For details on the refresh operation and settings, refer to each module's manual.
Input
Inter-module
synchronization cycle
CPU module
Input
Inter-module synchronous interrupt program
Input
refresh
Operation
processing
Output
refresh
Output
InterruptedNormal program
Output module
Input module
Output
Output External device
External device
External device
External device
Input
Input
Inter-module synchronous
interrupt program
execution time
Output

5 FUNCTION
5.1 Fixed Cycle Synchronization Function 17
5
Inter-module synchronous interrupt
The interrupt program is executed at the inter-module synchronization cycle timing set in the parameters. The interrupt
program executed at each inter-module synchronization cycle is called the inter-module synchronous interrupt program. For
details on the inter-module synchronous interrupt program, refer to the manual for each CPU module.
• Write the program for controlling the synchronization target in the inter-module synchronous interrupt
program.
• The operation when an interrupt cause occurs and the methods of creating the program, etc., are the same
as a normal interrupt program.
■Execution timing
The inter-module synchronous interrupt program is executed at the inter-module synchronization cycle timing. The inter-
module synchronization cycle can be changed with the parameter settings. (Page 34 Inter-Module Synchronization
Setting)
■Multiple interrupt
For details on the inter-module synchronization (I44) multiple interrupt function, refer to the following.
MELSEC iQ-R CPU Module User's Manual (Application)
Refresh timing according to CPU module's operation status
This section shows the refresh timing according to the CPU module operation status.
For C Controller module, the refresh timing is before and after an inter-module synchronous interrupt program
since an inter-module synchronous interrupt program is executed even when the operating status of C
Controller module is STOP. For more details, refer to the following manual.
MELSEC iQ-R C Controller Module User’s Manual (Application)
■Operation at STOP (RUNSTOP)
At STOP*1, the CPU module stops the execution of the inter-module synchronous interrupt program, and turns the output
OFF. Refreshing is executed even during STOP. Note that refreshing will not be executed the specified inter-module
synchronization cycle (fixed cycle), but will be executed at the END process.
*1 This includes CPU module stop errors.
■STOPRUN operation*1
The CPU module issues the inter-module synchronization start instruction to each module at the inter-module synchronization
cycle after STOPRUN. The inter-module synchronous interrupt program execution starts at the next inter-module
synchronization cycle. The refresh timing changes from the END process to before and after the inter-module synchronous
interrupt program.
*1 The operation is the same at Power ONRUN.

18 5 FUNCTION
5.1 Fixed Cycle Synchronization Function
Timing to synchronize each module
Shows the timing to synchronize each module.
Input module
The input module retrieves the input module at the inter-module synchronization cycle start timing, and holds the input value
during the inter-module synchronization cycle. (The input value is retrieved only once during the inter-module synchronization
cycle.) By reading the input value (input signal) from the inter-module synchronous interrupt program, multiple modules can
read the retrieved value at the same timing.
ON
ON OFF
X0
X1
ON
ON ON
OFF
ON
ON
OFF
ON
ON
Read an input value.
CPU module
External input signal to X0
External input signal to X1
Read an input value.
Acquire and hold an input value. Acquire and hold an input value. Acquire and hold an input value.
Normal program Normal program
Inter-module synchronous
interrupt program
Operation
processing
Input
refresh
Output
refresh
Inter-module synchronous
interrupt program
Operation
processing
Input
refresh
Output
refresh
Inter-module
synchronization cycle
Inter-module
synchronization cycle