Omron NY532-1500 User Manual page 45

Precautions for Correct Use Precautions for Correct Use
• Motion control instructions can be used in the primary periodic task and in a priority-16 peri-
odic task.
• If motion control instructions are used in any other tasks, an error will occur when the user pro-
gram is built on the Sysmac Studio.
Task Assignment
• Axes and axes groups can be assigned to the primary periodic task. The I/O device task that is
assigned to an axis must be the same type of task that is assigned to the axis.
• You can execute motion control instructions from the user program that is operated in the priority-16
periodic task for the axes and axes groups that are assigned to the primary periodic task.
Additional Information
Refer to Section 3 Configuring Axes and Axes Groups for details on axes and axes groups.
Basic Operation of Tasks
 Overall Task Operation
The primary periodic task and periodic tasks operate based on the task period of the primary peri-
odic task (also known as the primary period). The primary periodic task includes operations such as
system common processing and motion control in addition to I/O refreshing and user program exe-
cution. Processing of motion control instructions in the programs is executed during the next motion
control (MC) period after the END instruction is executed in the task.
Primary
periodic task
Priority-16
periodic task
Symbol
IO I/O refreshing
UPG User program execution
MC Motion control
(A) A dotted line represents a transition to another task.
(B) A dashed-dotted line means that processing for that
task has been interrupted.
(C) A double line means that all processing for that task
has been completed.
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Primray period (t)
IO UPG IO UPG
(A)
IO UPG
(B)
Description
2 Motion Control Configuration and Principles
IO UPG IO UPG
Task period (t×4)
UPG UPG
IO UPG
IO UPG
(C)
2
2-5