Omron NX701-17 Series User Manual page 123

Relationship Between Process Data Communications Cycle and
Task Setting
The process data communications cycles of the primary periodic task and priority-5 periodic task are
synchronized with the task period of the task to which I/O refreshing is assigned for each EtherCAT
slave.
Assigning I/O refreshing to tasks, setting procedure on Sysmac Studio, and I/O refreshing timing are
shown as follows.
 Assigning I/O Refreshing to Tasks
I/O refreshing of the EtherCAT slaves is assigned to the tasks.
Tasks to which assignment is possible and unit of assignment are different depending on the I/O
refreshing target. Unit of assignment refers to a target or a group of targets for I/O refreshing that
can be assigned to one I/O controlling task. For example, when the unit of assignment is Slave Ter-
minal, you can assign I/O refreshing to only one task even if more than one NX Unit is connected to
a Communications Coupler Unit.
The following table shows the relationship among the I/O refreshing target, the assignable task, and
the unit of assignment.
I/O refreshing target
Communications Coupler Unit
with an NX Unit assigned to an axis on the
Slave Terminal
Communications Coupler Unit
without an NX Unit assigned to an axis on the
Slave Terminal
EtherCAT slaves to which axes are assigned
Other EtherCAT slaves
* You can use the priority-5 periodic task only with the NX701 CPU Units.
 Sysmac Studio Setting Procedure
For each slave and Unit without axis assignments, set the tasks to perform I/O refreshing in the I/O
Control Task Settings on the Task Settings Tab Page of the Sysmac Studio.
For details, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501).
For each slave and Unit with axis assignments, select the motion control instruction to use in the
Motion Control Setup of the Sysmac Studio. This sets the tasks to perform I/O refreshing.
For details, refer to the NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No. W507).
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
Primary periodic task or priority-5
periodic task*
Primary periodic task or priority-5
and priority-16 periodic tasks
Primary periodic task or priority-5
periodic task
Primary periodic task or priority-5
and priority-16 periodic tasks
Assignable task
*
*
*
Unit of assignment
Slave Terminal
6
Slave
6-5