Omron NJ Series User Manual

5-59
5 Designing Tasks
NJ-series CPU Unit Software User’s Manual (W501)
5-3 Task Design Methods and I/O Response Times
5
5-3-4 System Input and Output Response Times
Additional Information
Reference: Reading the Values of Axis Variables in the Priority-16 Periodic Task
• If an axis variable is read in the priority-16 periodic task, the most recent values of the axis
variable when the program execution for the priority-16 periodic task started are read. These
values show the results of motion control processing in the immediately proceeding primary
periodic task.
• Values are not written to axis variables when motion control instructions are executed in the
priority-16 periodic task. They are written in the motion control processing (MC) section of the
next primary periodic task.
• The results of execution of motion control instruction in the previous priority-16 periodic task
are read as the value of the axis variable in the next priority-16 periodic task.
UPG MC IO UPG MC IO UPG MC IO UPG MC IO
UPG
UPG MC IO
FB
Motion control instructions
executed.
They are written in the motion control
processing section in the next primary
periodic task.
Values are not written to axis variables
when motion control instructions are
executed in the priority-16 periodic task.
The most recent values of the axis variables
are read at the start of execution of the
programs in the priority-16 periodic task.
Axis
variables
read.
Task period 1 (e.g., t × 3)
Primary
periodic task
Priority-16
periodic task
Primary period (t)
UPG MC IO UPG MC IO UPG MC IO UPG MC IO UPG MC IO
FB
UPG
FB
UP
G
Task period 1 (t × 3)
Primary period (t)
Motion control instructions executed.
Standby
Motion control
instructions executed.
The results of execution in the
previous priority-16 periodic task
are read as the values of the axis
variables.
Axis
variables
read.
Axis
variables
read.
Primary
periodic task
Priority-16
periodic task

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