Task Execution Conditions And Settings; Cyclic Task Status - Omron CP - PROGRAMMING MANUAL 05-2007 Programming Manual

Programming with Tasks
2-1-5

Task Execution Conditions and Settings

Task
Cyclic tasks
Interrupt Scheduled
tasks interrupt task 0
Input interrupt
tasks 0 to 7
High-speed
counter inter-
rupt tasks
External inter-
rupt tasks
(CP1H only)
Extra cyclic tasks 0 to 255 Interrupt tasks
2-1-6

Cyclic Task Status

Disabled Status (INI)
READY Status
56
Item
Initial Task Execution
Flag (A200.15) and
Task Start Flag
(A200.14)
Index (IR) and data
(DR) register values
The following table describes task execution conditions, related settings, and
status.
No. Execution condition
0 to 31 Executed once each cycle if READY
(set to start initially or started with the
TKON(820)instruction) when the right
to execute is obtained.
Interrupt task 2 Executed once every time the preset
period elapses according to the inter-
nal timer of CPU Unit.
Interrupt tasks Executed when the corresponding
140 to 147 CPU Unit built-in input turns ON or
turns OFF.
Interrupt tasks Executed when corresponding target
0 to 255 or range comparison condition is met
for CPU Unit built-in high-speed
counter.
Interrupt tasks Executed when requested by a user
0 to 255 program in a Special I/O Unit or CPU
Bus Unit.
Executed once each cycle if READY
0 to 255 (started with the TKON(820) instruc-
tion) when the right to execute is
obtained.
This section describes cyclic task status, including extra cyclic tasks.
Cyclic tasks always have one of four statuses: Disabled, READY, RUN (exe-
cutable), and standby (WAIT).
A task with Disabled status is not executed. All cyclic tasks have Disabled sta-
tus in PROGRAM mode. Any cycle task that shifted from this to another status
cannot return to this status without returning to PROGRAM mode.
A task attribute can be set to control when the task will go to READY status.
The attribute can be set to either activate the task using the TASK ON instruc-
tion or when RUN operation is started.
Extra cyclic tasks
Not supported.
Not defined when task is
started (same as normal
interrupt tasks). Values at
the beginning of each
cycle are undefined.
Always set values before
using them. Values set in
the previous cycle cannot
be read.
None
• The scheduled interrupt time is set
(0 to 9999) through the SET INTER-
RUPT MASK instruction
(MSKS(690)).
• Scheduled interrupt unit (10 ms, 1.0
ms, or 0.1 ms) is set in PLC Setup.
• Masks for designated inputs are
canceled through the SET INTER-
RUPT MASK instruction
(MSKS(690)).
None (always enabled)
None (always enabled)
Section 2-1
Normal cyclic tasks
Supported.
Undefined at the beginning
of operation. Values set in
the previous cycle can be
read.
Related Setting