Mitsubishi Electric R16MTCPU Programming Manual page 291

When multiple start factors occur within the same type of task
• When another event occurs while executing an event task program, the program that corresponds to the next event is
executed after completing the execution for the number of consecutive transitions of the program being executed.
Ex.
When an external interrupt occurs while executing a fixed-cycle event task, the external interrupt task is executed after
completing the execution (for the number of consecutive transitions) of the fixed-cycle event task.
3.555ms
External interrupt
Event task 3.555ms Interrupt
• The following is the operation for when an event task program is being executed and the same event occurs again, or when
a NMI task is being executed and a NMI interrupt occurs again.
Task type
Event task Fixed-cycle (0.222ms, 0.444ms, 0.888ms, 1.777ms, 3.555ms, 7.111ms, 14.222ms)
External interrupt
PLC interrupt
NMI External interrupt
Ex.
(Example 1)
When the processing time for the process below is executed at a 0.222ms fixed-cycle event task, a 0.3ms process can only
be started every 0.444ms.
0.222ms
Event task
0.222ms
(processing time: 0.1ms)
Event task
(processing time: 0.3ms)
(Example 2)
When a PLC interrupt is issued multiple times, the event task is started in order only for the amount of times issued.
M.GINT
(I3)
PLC interrupt
Event task
• Fixed-cycle event tasks are executed in the order of the shortest cycle first.
0.888ms
Event task 0.888ms 1.777ms
External interrupt
3.555ms Interrupt
Executing after completing
the fixed-cycle event task
0.222ms 0.222ms
0.222ms
0.888ms
M.GINT
(I4)
I3 I4
0.888ms
Operation when the same event occurs
The event afterwards is ignored.
Executed in order
0.222ms
0.222ms
0.888ms 1.777ms
6 OPERATION FOR MOTION SFC AND PARAMETER
6.3 Execution Status of the Multiple Task
6
289