Omron NJ-series User Manual page 183

5 Designing Tasks
 Performing Control with the Programs in the Priority-16 Periodic Task
The Controller makes a response in the following I/O response time.
I/O response time = Priority-16 periodic task period
Example: Controlling EtherCAT Input Slave A and EtherCAT Output Slave B with the Priority-16 Peri-
odic Task
Slave A Slave B
IN
OUT
Process data
communications cycle
= Primary period (t)
Primary
IO UPG MC IO UPG MC IO UPG MC IO UPG MC
periodic task
Task period
Priority-16
IO UPG IO UPG
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 = Priority-16 periodic task period  2
Performing Motion Control with Motion Control Instructions
Motion control instructions access the Servo Drive and encoder input slaves to which axes are
assigned.
Motion control instructions can be used in the primary periodic task and in a priority-16 periodic
task.
In either case, the motion control instructions are processed in the motion control processing (MC)
section of the primary periodic task.
The I/O response times that include EtherCAT communications times are given below.
5-56 NJ-series CPU Unit Software User's Manual (W501)