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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