Omron NX701-1 User Manual

2-9
2 Motion Control Configuration and Principles
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
2-3 Motion Control Principles
2
2-3-1 CPU Unit Tasks
 Operation of the Primary Periodic Task
*1 The Servo Drive status, axis current values, and other motion control system-defined variables are updated
according to data received from the Servo Drives.
*2 For the system-defined variables of the axes that are assigned to Motion control 1, _MC_AX[0-255] or
_MC1_AX[0-255] are used. Similarly, for the system-defined variables of the axes groups, _MC_GRP[0-63] or
_MC1_GRP[0-63] are used.
Refer to 3-1-3 Introduction to Axis Variables for the system-defined variables of axes and 3-3-3 Introduction to
Axes Group Variables for the system-defined variables of axes groups.
*3 Data is sent to the Servo Drives during I/O refreshing in the next primary periodic task.
Processing Processing Contents
Output data processing • Output refresh data is created for Output Units that execute I/O refreshing.
• If forced refreshing is set, the forced refreshing values are reflected in the
output refresh data.
Refresh execution • This process exchanges data with I/O.
Input data processing • Whether the condition expression for event task execution is met or not is
determined.
• Input refresh data is loaded from Input Units that execute I/O refreshing.
• If forced refreshing is set, the forced refreshing values are reflected in the
input refresh data that was read.
System common processing 1 • Processing for exclusive control of variables in tasks is performed when
accessing tasks are set.
• Motion input processing is performed.
*1
• Data tracing processing (sampling and trigger checking) is performed.
User program execution • Programs assigned to tasks are executed in the order that they are
assigned.
Motion control 1
*2
• The motion control commands from the motion control instructions in the
programs in the primary periodic task and priority-16 periodic task are exe-
cuted.
• Motion output processing is performed.
*3
System common processing 2 • Processing for exclusive control of variables in tasks is performed when
refreshing tasks are set.
• Processing for variables accessed from outside of the Controller is per-
formed to maintain concurrency with task execution (executed for the vari-
able access time that is set in the Task Settings).
• If there is processing for EtherNet/IP tag data links and refreshing tasks are
set for the tags (i.e., variables with a Network Publish attribute), variable
access processing is performed.
Task execution time
Task period (= primary period)
I/O refresh
Refresh
executed.
Control processing
Output data processing
Input data processing
System common processing 1
Motion control
System common processing 2
User program
execution

Omron NX701-1 Specifications

General

Brand	Omron
Model	NX701-1
Category	Controller
Language	English