Omron CJ1G-CPU series, Programming Manual

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Task Features Section 4-1
6. Easily understood user programs.
Programs are structured in blocks that make the programs much simpler
to understand for sections that would conventionally be handled with in-
structions like jump.
4-1-2 Tasks and Programs
• Up to 288 programs (tasks) can be controlled. Individual programs are
allocated 1:1 to tasks. Tasks are broadly grouped into the following types:
• Cyclic tasks
• Interrupt tasks
Note 1. Up to 32 cyclic tasks and 256 interrupt tasks for a maximum total of 288
tasks can be created. Each task has its own unique number ranging from
0 to 31 for cyclic tasks and 0 to 255 for interrupt tasks.
2. With the CS1-H, CJ1-H, or CJ1M CPU Units, interrupt task (interrupt task
numbers 0 to 255) can be executed as cyclic tasks by starting them with
TKON. These are called “extra cyclic tasks.” If extra cyclic tasks are used,
then the total number of cyclic tasks that can be used is 288.
3. CJ1 CPU Units do not currently support I/O interrupt tasks and external in-
terrupt tasks. The maximum number of tasks for a CJ1 CPU Unit is thus
35, i.e., 32 cyclic tasks and 3 interrupt tasks. The total number of programs
that can be created and managed is also 35.
Each program allocated to a task must end with an END(001) instruction. I/O
refreshing will be executed only after all task programs in a cycle have been
executed.
Task C
Start task A
Start task B
Task A
Task B
(Program A)
(Program B)