2 Motion Control Configuration and Principles
2-8
NJ/NX-series CPU Unit Motion Control Userās Manual (W507)
ļ¬ Overall Task Operation
The primary periodic task and periodic tasks operate based on the task period of the primary peri-
odic task (also known as the primary period). The primary periodic task and priority-5 periodic task
include operations such as system common processing and motion control in addition to I/O refresh-
ing and user program execution. Processing of motion control instructions in the programs is exe-
cuted during the next motion control (MC) period after the END instruction is executed in the task.
Basic Operation of Tasks
Symbol Description
IO I/O refreshing
UPG User program execution
MC Motion control
(A) A dotted line represents a transition to another task.
(B) A dashed-dotted line means that processing for that
task has been interrupted.
(C) A double line means that all processing for that task
has been completed.
IO UPG
MC
IO UPG
MC
IO UPG
MC
IO UPG
MC
IO UPG
MC
Task period (tĆ2)
IO UPG IO UPGUPG UPG
Task period (tĆ4)
(A)
(B)
(C)
IO UPG MC IO UPG MC IO UPG
Primary
periodic task
Priority-5
periodic task
Priority-16
periodic task
Primray period (t)
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