Omron NJ-series User Manual page 66

Primary
periodic task
Periodic task
 Operation of Processing with Tasks
Processing that is assigned to a task is executed within the task in the order shown in the following
diagram. If the program contains a motion control instruction, the execution process for the program
in the task will send a command to the motion control process. The motion control process is exe-
cuted based on commands.
Task period
Task
Processing
System
I/O
common
refreshing
processing
Note Motion control processing is executed only in the primary periodic task. If a program that uses a motion con-
trol instruction is assigned to a periodic task, motion control processing is executed as follows: the execution
process for the program in the periodic task sends a command to the motion control process in the primary
periodic task. For details, refer to 5-3-4 System Input and Output Response Times.
NJ-series CPU Unit Software User's Manual (W501)
Task period of primary Task period of primary
periodic task periodic task
Task Task
Task period of periodic task
Task Interrupted.
Task period
Task
User program execution
Command
Motion control instruction
Task period of primary
periodic task
Task
Task period of periodic task
Task
Task
System
Motion control common
processing
2 CPU Unit Operation
2-7
2