Omron NJ Series User Manual

5-11
5 Designing Tasks
NJ-series CPU Unit Software User’s Manual (W501)
5-2 Task System
5
5-2-3 Basic Operation of Tasks
*1 The Axis Current Values (Position, Velocity, and Torque) and Drive Status in the system-defined variables for
motion control are updated.
*2 When there are motion control instructions in user program execution in the primary periodic task, the CPU
Unit executes the results from those instructions immediately afterward in motion control processing. The CPU
Unit outputs the results to the Servo Drives during I/O refreshing in the next primary periodic task.
Note The processes in each cell in the above table are executed in the order of description.
[
When there is a motion control instruction in user program execution in the periodic task, the CPU
Unit executes the result from that instruction in the motion control processing (MC) of the next pri-
mary periodic task.
Refer to 5-3-4 System Input and Output Response Times for details.
 Periodic Tasks
A periodic task executes its programs every task period. The task period is specified as an integer
multiple of the primary period. You can use 0 to 3 periodic tasks.
The priority-16 periodic task can also refresh I/O.
Processing for periodic tasks that do not control I/O is different from processing for periodic tasks
that do control I/O.
Periodic Tasks That Do Not Control I/O
User program execution • Programs assigned to tasks are executed in the order that they are assigned.
Motion control
*2
• The motion control commands from the motion control instructions in the user
program execution are executed.
• Processing the motion outputs for I/O refreshing in the next primary periodic task.
System common process-
ing 2
• Processing for exclusive control of variables in tasks (when refreshing tasks are
set)
• Processing for variables accessed from outside of the Controller is performed to
maintain concurrency with task execution (executed for the variable access time
that is set in the Task Settings).
• If there is processing for EtherNet/IP tag data links and refreshing tasks are set
for the tags (i.e., variables with a Network Publish attribute), variable access pro-
cessing is performed.
Processing Processing contents
Task period = Primary period (fixed)
When the CPU Unit executes a motion
control instruction, it executes the result of
that instruction in motion control processing
immediately afterward.
MC_
The system-defined variables for motion control
are updated for use in the following motion
control instructions.
User
program
execution
Refreshing
I/O refreshing
During output data processing in the next primary
period, the CPU Unit sends the results of motion
control processing to the Servo Drive via EtherCAT.
Refreshing
Input data
processing
Output data
processing
System common
processing 2
Motion control
System
common
processing 1
Input data
processing
Output data
processing
Control processing
I/O refreshing
*
*
* The Controller will pause the execution of a
periodic task in order to execute a task with
a higher execution priority.
Task execution time (varies)
Task period (fixed)
System
common
processing 2
System
common
processing 1
User
program
execution
Control processing

Omron NJ Series Specifications

General

Program Capacity	Up to 128 MB
SD Card Slot	Yes
Power Supply Voltage	24 VDC
Motion Control	Yes
USB Ports	1
Operating Temperature	0°C to 55°C
Communication Interfaces	Ethernet/IP, EtherCAT, USB
Safety Function	Optional
Storage Temperature	-20°C to 75°C
Communication Ports	USB
Dimensions	Varies by model
Weight	Varies by model