Omron CP - PROGRAMMING MANUAL 05-2007 - Tasks and Programs

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Programming with Tasks Section 2-1
2-1-2 Tasks and Programs
Up to 288 programs (tasks) can be controlled. Individual programs are allo-
cated 1:1 to tasks. Tasks are broadly grouped into the following types:
• Cyclic tasks
• Interrupt tasks
Each program allocated to a task is executed independently and must end
with an END(001) instruction. I/O refreshing will be executed only after all task
programs in a cycle have been executed.
Allocation
I/O refreshing
Allocation
Allocation
Allocation
Interrupt condition
goes into effect
Cyclic
task n
Cyclic
task 1
Cyclic
task 0
Interrupt
task 100
Program D
Program C
Program B
Program A