5 Designing Tasks
5-54
NJ-series CPU Unit Software User’s Manual (W501)
The times that are required for the system to produce an output after it receives an input are described
in this section.
The I/O response times depend on various conditions.
The input response times and output response times between external devices and the slaves and
Units must be added to the system I/O response times.
I/O refreshing between Basic I/O Units and external devices is performed in the task to which I/O
refreshing is assigned. The I/O response times that include EtherCAT communications times are given
below.
The I/O response times that include EtherCAT communications times are given below.
Performing Control with the Programs in the Primary Periodic Task
The Controller makes a response in the following I/O response time.
Example: Controlling Unit A and Unit B with the Primary Periodic Task
However, the I/O response time may be as follows depending on the timing of the input from the
Unit.
5-3-4 System Input and Output Response Times
Sequence Control with Basic I/O Units
Minimum I/O response time = Primary period
Maximum I/O response time = Primary task period 2
UPG
UPG
M
C
IOUPG
M
C
IOUPG
M
C
IO
Task period 1 (e.g., t × 3)
Note: The above diagram shows only one input and one output.
Primary
periodic task
Priority-16
periodic task
Primary period (t)
Unit B
Unit A
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