Motion Control Principles; Controller Function Tasks - Omron NY532-1500 User Manual

2 Motion Control Configuration and Principles
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Motion Control Principles

This section provides information on the Controller function tasks and how they relate to motion control.
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Controller Function Tasks

Tasks are attributes of programs that determine the execution conditions and sequence of the pro-
grams. The Controller functions support the following tasks.
Tasks that execute programs at a fixed period
Tasks that execute programs only once when the exe-
cution conditions for the tasks are met
Refer to the NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558)
for details on programs, tasks, and setting methods.
Types of Tasks and Task Priority
The NY-series Controller can execute the user program with a single task or multiple tasks.
Tasks have an execution priority. Tasks with the highest execution priority are executed first. If the exe-
cution conditions are met for another task with a higher execution priority while a task is under execu-
tion, the task with the higher execution priority is given priority in execution. The following table lists the
tasks in which you can use motion control instructions and the task priorities for the NY-series Control-
ler. You cannot use motion control instructions in event tasks.
Type of task
Primary 1
periodic task
Periodic tasks 0 or 1
Note The NY-series Controller has some periodic tasks with an execution priority of 17 or 18. However, you can-
not use motion control instructions in these tasks. These tasks also do not perform I/O refreshing.
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Type of task
Number of
Priority
tasks
4
16
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Primary periodic task
Priority-16, -17, and -18 periodic tasks
Event task (execution priority: 8 and 48)
Operation
This task executes I/O refreshing, programs, and motion
control in the specified task period. This task has the highest
execution priority of all tasks and can be executed quickly and
precisely. Therefore, this task is best suited for situations when
synchronized control or highly responsive control is required.
Use the primary periodic task to execute all control with a
single task.
These tasks execute programs and I/O refreshing in the
specified task period. The execution period for this priority-16
periodic task is longer than the execution period of the primary
periodic task. Therefore, periodic tasks are used to execute
programs.
In the priority-16 periodic task, you can write the user program
for some slaves and Units that refresh I/O in the primary
periodic task.
For example, synchronized control and control requiring a fast
response time are placed in the primary periodic task. Overall
device control is separately placed in a priority-16 periodic task.
Task name