2 Motion Control Configuration and Principles
2-8
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
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 (t×2)
IO UPG IO UPGUPG UPG
Task period (t×4)
(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)
To Next Page
Loading...
