Mitsubishi Electric R64MTCPU - Page 291

6 OPERATION FOR MOTION SFC AND PARAMETER
6.3 Execution Status of the Multiple Task
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When multiple start factors occur within the same type of task
• When another event occurs while executing an event task program, the program that corresponds to the next event is
executed after completing the execution for the number of consecutive transitions of the program being executed.
Ex.
When an external interrupt occurs while executing a fixed-cycle event task, the external interrupt task is executed after
completing the execution (for the number of consecutive transitions) of the fixed-cycle event task.
• The following is the operation for when an event task program is being executed and the same event occurs again, or when
a NMI task is being executed and a NMI interrupt occurs again.
Ex.
(Example 1)
When the processing time for the process below is executed at a 0.222ms fixed-cycle event task, a 0.3ms process can only
be started every 0.444ms.
(Example 2)
When a PLC interrupt is issued multiple times, the event task is started in order only for the amount of times issued.
• Fixed-cycle event tasks are executed in the order of the shortest cycle first.
Task type Operation when the same event occurs
Event task Fixed-cycle (0.222ms, 0.444ms, 0.888ms, 1.777ms, 3.555ms, 7.111ms, 14.222ms) The event afterwards is ignored.
External interrupt Executed in order
PLC interrupt
NMI External interrupt
Event task 3.555ms 3.555msInterrupt Interrupt
3.555ms
External interrupt
External interrupt
Executing after completing
the fixed-cycle event task
Event task
(processing time: 0.1ms)
0.222ms
0.222ms 0.222ms 0.222ms
Event task
(processing time: 0.3ms)
0.222ms
0.222ms
0.222ms
PLC interrupt
Event task
I3 I4
0.888ms
M.GINT
(I3)
M.GINT
(I4)
Event task 0.888ms 1.777ms 0.888ms 1.777ms0.888ms
0.888ms