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2 Motion Control Configuration and Principles
2-6
NJ-series CPU Unit Motion Control User’s Manual (W507)
z
Operation of a Periodic Task with an Execution Priority of 16
You can refresh I/O in the priority-16 periodic task.
* The CPU Unit will temporarily interrupt the execution of a task in order to execute a task with a higher execution
priority.
The primary period, which is the task period for the primary periodic task, is the standard period for exe-
cution. The primary period is automatically used as the motion control period. (It is also the same as the
process data communications cycle for EtherCAT communications.) Periodic task execution is synchro-
nized with the primary period. Set the task period of a periodic task as an integer multiple of the primary
period. For example, if the primary period is 1 ms, then you can set the task period of a priority-16 peri-
odic task to 4 ms. In that case, the start of the period for the primary periodic task and the periodic task
will match once every four primary periods. The following table lists the possible combinations of pri-
mary periodic task and periodic task periods.
User program execution
•
Programs assigned to tasks are executed in the order that they are
assigned.
Motion control
•
The motion control commands from the motion control instructions in the
programs are executed.
•
Motion output processing is performed.
System common processing 2
•
Variable refresh processing (if there are refreshing tasks) is performed.
•
Variable access processing is performed.
Task Period
Primary period
Valid task periods for periodic tasks
500
µ
s
1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 8 ms, 10 ms, 15 ms, 20 ms, 25 ms, 30 ms, 40 ms,
50 ms, 60 ms, 75 ms, or 100 ms
1 ms
1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 8 ms, 10 ms, 15 ms, 20 ms, 25 ms, 30 ms, 40 ms,
50 ms, 60 ms, 75 ms, or 100 ms
2 ms
2 ms, 4 ms, 8 ms, 10 ms, 20 ms, 30 ms, 40 ms, 50 ms, 60 ms, or 100 ms
4 ms
4 ms, 8 ms, 20 ms, 40 ms, 60 ms, or 100 ms
Processing
Processing contents
*
*
Task processing time
Task execution time
Task period
I/O refresh
Task processing time
Control
processing
Control
processing
Output data processing
Refresh
executed.
Input data processing
System common
processing 1
User program
execution
System common
processing 2
User program
execution
Summary of Contents for NJ501-1300
Page 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Page 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Page 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Page 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Page 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Page 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Page 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Page 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Page 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Page 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Page 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Page 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Page 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...