Omron NJ Series

2-7
2 CPU Unit Operation
NJ-series CPU Unit Software User’s Manual (W501)
2-2 Software
2
2-2-2 Operation of Software
 Operation of Processing with Tasks
Processing that is assigned to a task is executed within the task in the order shown in the following
diagram. If the program contains a motion control instruction, the execution process for the program
in the task will send a command to the motion control process. The motion control process is exe-
cuted based on commands.
Note Motion control processing is executed only in the primary periodic task. If a program that uses a motion con-
trol instruction is assigned to a periodic task, motion control processing is executed as follows: the execution
process for the program in the periodic task sends a command to the motion control process in the primary
periodic task. For details, refer to 5-3-4 System Input and Output Response Times.
Task
Task period of primary
periodic task
Task Task
Task
Task
Primary
periodic task
Periodic task
TaskInterrupted.
Task period of primary
periodic task
Task period of primary
periodic task
Task period of periodic task Task period of periodic tas
k
Processing
I/O
refreshing
User program execution
Motion control instruction
Motion control
System
common
processing
Command
Task Task
Task period Task period
System
common
processing