The remote periodic message not only has time constraints but also often has precedence constrains in Foundation Fieldbus system. In this paper, analysis and heuristic scheduling for remote periodic messages are proposed. Firstly, precedence constrains are considered and described by modifying releases times and deadlines of remote periodic messages. Secondly, a heuristic algorithm for building FF schedule time list is proposed to find acceptable scheduling solutions by some simple strategies in order to meet the requirement of these messages’ real-time communication. Finally, an example of application shows the process of building FF schedule time list.