Omron NY532-1500 User Manual page 47

 Operation of a Priority-16 Periodic Task
You can refresh I/O in the priority-16 periodic task.
Task processing time
*
I/O refresh
* The CPU Unit will temporarily interrupt the execution of a task in order to execute a task with a higher execution
priority.
Task Period
For a single task, the primary period, which is the task period for the primary periodic task, is the stan-
dard period for execution. In this case, the primary period is automatically used as the motion control
period. (It is also the same as the process data communications cycle for EtherCAT communications.)
Periodic task execution is synchronized with the primary period. Set the task period of a periodic task
as an integer multiple of the primary period.
For example, if the primary period is 1 ms, then you can set the task period of a priority-16 periodic task
to 4 ms. In that case, the start of the period for the primary periodic task and the priority-16 periodic task
will match once every four primary periods.
Refer to the NY-series Industrial Panel PC / Industrial Box PC Software User's Manual (Cat. No. W558)
for details on the task period.
 Valid Task Periods for NY-series Controller
The following table lists the possible combinations of primary periodic task and priority-16 periodic
task periods for the NY-series Controller.
Primary periodic task
Priority-16 periodic task
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Task period
Task execution time
*
Control
processing
Task
500 µs to 8 ms (specify in increments of
250 µs)
1 ms to 100 ms (specify in increments of
250 µs)
2 Motion Control Configuration and Principles
Task processing time
Control
processing
Valid task periods
2
2-7