2 Motion Control Configuration and Principles
2-16
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
The update timing is similar if two task periods are the same.
If a Task Period Exceeded error occurs, the execution results from the task period immediately
before the start of the task periods matched are not updated. The execution results from one
more period before that period are updated.
The timing that the values of an Axis Variable in the priority-5 periodic task update to the primary
periodic task is shown below.
Symbol Description
(A) Axis Variable updated.
If a Task Period Exceeded error occurs, the values of the previous task period is updated.
(B) The values of an Axis Variable are not written during the user program execution.
Symbol Description
(A) Axis Variable updated.
The execution results from the priority-5 periodic task immediately before the start of the task periods
matched are updated.
(B) The values of an Axis Variable are not written during the user program execution.
IO UPG
MC
IO UPG
MC
IO UPG
MC
Task period (t)
IO UPG
MC
IO UPG
MC
Servo
Execution command
IO UPG
MC
IO UPG
MC
IO UPG
MC
IO UPG
MC
IO UPG
MC
Primary
periodic task
Priority-5
periodic task
Primary period (t)
IO UPG
MC
IO IO UPG
MC
IO UPG MC IO UPG MC
(A)
(B)
MC
IO
Task Period Exceeded occurred.
Task period (t×2)
Primary
periodic task
Priority-5
periodic task
Primray period(t)
IO UPG
MC
IO UPG
MC
IO UPG
MC
IO UPG
MC
Task period (t×2)
IO UPG MC IO UPG MC IO UPG
IO UPG
MC
Servo
Execution command
(A)
(B)
Primary
periodic task
Priority-5
periodic task
Primrary period (t)
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