Mitsubishi Electric R64MTCPU - Execution Status of the Multiple Task

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6 OPERATION FOR MOTION SFC AND PARAMETER
6.3 Execution Status of the Multiple Task
6.3 Execution Status of the Multiple Task
Executing the Motion SFC program with multiple tasks
Execution status of each Motion SFC program when the Motion SFC program is executed multiple tasks is shown below.
When there are programs which are executed by the NMI task, 3.555ms fixed-cycle even task with a program to run by the
NMI task, and the normal task like a chart,
(1) The 3.555ms fixed-cycle event task is executed at intervals of 3.555ms;
(2) The NMI task is executed with the highest priority when an NMI interrupt is input; and
(3) The normal task is executed at free time.
as shown above.
Refer to the following for details of Motion CPU overall process timing that includes Motion operation cycle and main cycle.
MELSEC iQ-R Motion Controller Programming Manual (Common)
■Points
One Motion SFC program can be executed partially by another task by setting the area to be executed by another task as a
subroutine and setting a subroutine running task as another task.
Ex.
No. 0 Main Motion SFC program: Normal task
No. 1 Subroutine: Event task (3.555ms cycle)
CAUTION
• If too many NMI tasks and event tasks are executed, an operation cycle over occurs, or the majority normal tasks are not executed and a WDT error may
occur.
3.555ms event task-execute program
NMI task-execute program
Normal task-execute program
3.555ms
NMI interrupt NMI interrupt