Omron SYSMAC CJ Series, Operation Manual

Page: 15 / 371

System philosophy Section 1-2
3
1-2-1-4 CPU tasks
The operations executed in each CPU task are:
1-2-1-5 Program
A program is a piece of BASIC code.
1-2-1-6 Process
Is a program in execution with a certain priority assigned. Process 0 to 12 are
Low priority processes and Process 13 and 14 are High priority processes.
First the process priority, High or Low, and then the process number, from high
to low, will define to which CPU task the process will be assigned.
CPU task Operation
First CPU task Motion Sequence
Low priority process
Second CPU task High priority process
Third CPU task Motion Sequence (only if SERVO_PERIOD = 0.5 ms)
LED Update
High priority process
Fourth CPU task External Communications