Omron NX701-1 User Manual

2 Motion Control Configuration and Principles
2-10
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
 Operation of a Priority-5 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 2, _MC2_AX[0-255] are used.
Similarly, for the system-defined variables of the axes groups, _MC2_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 priority-5 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 • 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 2
*2
• The motion control commands from the motion control instructions in the programs
in the primary periodic task and priority-5 periodic task are executed.
• 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 performed to
maintain concurrency with task execution (executed for the variable access time
that is set in the Task Settings).
Task execution time
Task 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