Programs And Tasks - Omron SYSMAC CS Series Programming Manual

Programs and Tasks

1-6

Programs and Tasks

1,2,3...
Tasks specify the sequence and interrupt conditions under which individual
programs will be executed. They are broadly grouped into the following types:
1. Tasks executed sequentially that are called cyclic tasks.
2. Tasks executed by interrupt conditions that are called interrupt tasks.
Programs allocated to cyclic tasks will be executed sequentially by task num-
ber and I/O will be refreshed once per cycle after all tasks (more precisely
tasks that are in executable status) are executed. If an interrupt condition
goes into effect during processing of the cyclic tasks, the cyclic task will be
interrupted and the program allocated to the interrupt task will be executed.
Cyclic
task 0
Interrupt condition
goes into effect
Cyclic
task 1
Cyclic
task n
I/O refreshing
With earlier OMRON PCs, one continuous program is formed from several
parts. The programs allocated to each task are single programs that terminate
with an END instruction, just like the single program in earlier PCs.
Program A
Allocation
Interrupt
task 100
Allocation
Program C
Allocation
Program D
Allocation
Section 1-6
Program B
11