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2-5
2 Motion Control Configuration and Principles
NJ-series CPU Unit Motion Control User’s Manual (W507)
2
-3 Motion
Con
tr
o
l Princip
les
2
2-3-1 C
P
U Unit T
asks
z
Overall Task Operation
The primary periodic task and periodic tasks operate based on the task period of the primary peri-
odic task (also known as the primary period). The primary periodic task includes operations such as
system common processing and motion control in addition to I/O refreshing and user program exe-
cution. Processing of motion control instructions in the programs is executed during the next motion
control (MC) period after the END instruction is executed in the task.
IO:
I/O refreshing
UPG:
User program execution
MC:
Motion control
z
Operation of the Primary Periodic Task
Basic Operation of Tasks
Processing
Processing contents
Output data processing
•
Output refresh data is created for Output Units that execute I/O refreshing.
•
If forced refreshing is set, the forced refreshing values are reflected in the
output refresh data.
Refresh execution
•
This process exchanges data with I/O.
Input data processing
•
Input refresh data is loaded from Input Units that execute I/O refreshing.
•
If forced refreshing is set, the forced refreshing values are reflected in the
input refresh data that was read.
System common processing 1
•
Variable refresh processing (if there are accessing tasks) is performed.
•
Motion input processing is performed.
•
Data tracing processing (sampling and trigger checking) is performed.
IO
UPG
UPG
IO
UPG
MC
IO
UPG
MC
Primary period
Primary period
Task period (primary period × 2)
Priority-16
periodic task
Primary
periodic task
A dotted line
represents a transition
to another task.
A double line means that
all processing for that
task has been completed.
A dashed-dotted line means that
processing for that task has been
interrupted.
Task execution time
Task period (= primary period)
I/O refresh
Refresh
executed.
Control processing
Output data processing
Input data processing
System common processing 1
Motion control
System common processing 2
User program
execution
Содержание NJ501-1300
Страница 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Страница 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Страница 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Страница 44: ...1 Introduction to the Motion Control Function Module 1 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 58: ...2 Motion Control Configuration and Principles 2 14 NJ series CPU Unit Motion Control User s Manual W507...
Страница 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Страница 98: ...4 Checking Wiring from the Sysmac Studio 4 12 NJ series CPU Unit Motion Control User s Manual W507...
Страница 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Страница 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Страница 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Страница 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Страница 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Страница 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Страница 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Страница 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...