Example Of Task Operations For Motion Control - Omron NY532-1500 User Manual

2 Motion Control Configuration and Principles
2-3-2

Example of Task Operations for Motion Control

Motion control instructions can be used in the primary periodic task, in a priority-5 periodic task, or in a
priority-16 periodic task. This section provides examples of task operations.
Using Motion Control Instructions in the Primary Periodic Task
If high-speed motion control is required, place the motion control instructions (FB) in the primary peri-
odic task.
Slave A
IN
Primary
periodic task
1
Loading Data
The input data from the EtherCAT slaves (slave A) is loaded during the I/O refresh (IO).
2
Instruction Execution
The motion control instructions (FB) are executed based on the data that was loaded during
user program execution (UPG).
The output variables of the motion control instructions are refreshed at this point.
3
Command Generation
Motion processing according to the motion control instructions (FB) that were executed is per-
formed during motion control (MC) immediately after user program execution in the primary
periodic task. During this processing, execution commands for the Servo Drives and other
devices are generated.
4
Sending Commands
The execution commands that were generated are sent to the Servo Drive or other device
during the I/O refresh (IO) in the next period.
Additional Information
All instructions from inputs to execution command outputs to the Servo Drive or other device are
processed quickly in this task. We recommend placing all motion control instructions in the pri-
mary periodic task.
2-8
Primary period
IO UPG MC IO
FB
Execution of motion control instructions
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Servo
Execution command
Primary period
UPG MC
FB