Omron NJ-series User Manual page 182

 Performing Control with the Programs in the Priority-16 Periodic Task
The Controller makes a response in the following I/O response time.
Example: Controlling Unit A and Unit B with the Priority-16 Periodic Task
Primary
periodic task
Priority-16
periodic task
Note: The above diagram shows only one input and one output.
However, the I/O response time may be as follows depending on the timing of the input from the
Unit.
Sequence Control with EtherCAT Slaves
For EtherCAT slaves, EtherCAT communications with external devices is performed for I/O refreshing in
the primary periodic task.
The I/O response times that include EtherCAT communications times are given below.
 Performing Control with the Programs in the Primary Periodic Task
The Controller makes a response in the following I/O response time.
Minimum I/O response time = Primary period (= process data communications cycle)
Example: Controlling EtherCAT Input Slave A and EtherCAT Output Slave B with the Primary Peri-
odic Task
Primary
periodic task
Priority-16
periodic task
Note: The above diagram shows only one input and one output.
However, the I/O response time may be as follows depending on the timing of the input from the
slave.
Maximum I/O response time = Primary period (= process data communications cycle)  2
NJ-series CPU Unit Software User's Manual (W501)
Minimum I/O response time = Priority-16 periodic task period
Unit A
IN
Primary period
IO UPG MC IO UPG MC
Task period
IO UPG
Maximum I/O response time = Priority-16 periodic task period  2
Slave A Slave B
Process data
communications period =
Primary period (t)
M M
IO UPG IO UPG
C C
Task period 1 (e.g., t × 3)
UPG
Unit B
OUT
IO UPG MC IO UPG MC
IO UPG
M
IO UPG
C
5 Designing Tasks
5-55
5