Chapter 4 Motion Control Operation
If the main task cycle is set outside the setting range, an error 0x0260 occurs.
If the periodic task cycle is not set to the multiple of the main task, an error 0x0261 occurs.
If the error occurs, check the task cycle.
4.3.2 Task Operation
1. Overall task operation
The task is composed of the main task and periodic task. The main task performs I/O refresh and processes
program as well as motion control motion according to the processing of the program during the control period.
The periodic task is performed in the control period in the remaining time after the main task is completed and it
can be completed after going through many control periods.
I/O
refresh
Program
Motion
control
Program
I/O
refresh
Program
Motion
control
Program
Main task period Main task period
Periodic task period
Perfrom
main task
Perform
periodic task
Stop
2. Main task operation
The main task must be performed in the set task period, and if the performance of the main task exceeds the set
main task period, an error occurs and if motion controller is in RUN state, it is changed to STOP state.
If the main task execution is not completed during the ‘main task cycle error’ detection time, the operation is
stopped immediately, and an error is generated if the motion controller is in the RUN state. The motion controller
enters the ERR state.
(1) Performance time of main task ≤ Main task period
Output
data
refresh
Input
Data
refresh
Processing
program
Perform
motion
control
Main task period
Performance time of main task
To Next Page
Loading...
Need help?
General
