2 Motion Control Configuration and Principles
2-4
NJ-series CPU Unit Motion Control User’s Manual (W507)
2-3
Motion Control Principles
This section provides information on the CPU Unit tasks and how they relate to motion control.
Tasks are attributes of programs that determine the execution conditions and sequence of the pro-
grams. The NJ-series CPU Units support the following tasks.
Refer to the
NJ-series CPU Unit Software User’s Manual
(Cat. No. W501) for details on programs,
tasks, and setting methods.
The NJ-series CPU Unit can execute the user program with a single task or multiple tasks. Tasks have
an execution priority. Tasks with the highest execution priority are executed first. If the execution condi-
tions are met for another task with a higher execution priority while a task is under execution, the task
with the higher execution priority is given priority in execution. The following table lists the tasks in which
you can use motion control instructions and the task priorities for the NJ-series CPU Unit.
* The CPU Unit has some periodic tasks with an execution priority of 17 or 18. However, you cannot use motion
control instructions in these tasks. These tasks also do not perform I/O refreshing.
Precautions for Correct Use
Precautions for Correct Use
•
Motion control instructions can be used in the primary periodic task and in a priority-16 peri-
odic task.
•
If motion control instructions are used in any other tasks, an error will occur when the user pro-
gram is built on the Sysmac Studio.
2-3-1
CPU Unit Tasks
Type of task
Task name
Tasks that execute programs at a fixed period
Primary periodic task
Periodic tasks (execution priority: 16, 17, and 18)
Types of Tasks and Task Priority
Type of task
Number of
tasks
Priority
Operation
Primary
periodic task
1
4 (fixed)
This task executes I/O refreshing, programs, and motion con-
trol in the specified task period. This task has the highest exe-
cution priority of all tasks and can be executed quickly and
precisely. Therefore, this task is best suited for situations when
synchronized control or highly responsive control is required.
Use the primary periodic task to execute all control with a sin-
gle task.
Periodic tasks
0 or 1
16
*
These tasks execute programs and I/O refreshing in the speci-
fied task period. The execution period for this task is longer
than the execution period of the primary periodic task. There-
fore, periodic tasks are used to execute programs. For exam-
ple, synchronized control and control requiring a fast response
time are placed in the primary periodic task. Overall device
control is placed in a periodic task.
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...