Omron NY532-1500 User Manual page 49

Using Motion Control Instructions in a Priority-16 Periodic Task
If high speed motion control is not required and/or your user program is too large, place motion control
instructions in a priority-16 periodic task.
 Timing of Processing
Motion control processing (MC) for the motion control instructions (FB) that are executed in the
same task period as the priority-16 periodic task are performed at the same time. Therefore, pro-
cessing for multiple axes can be simultaneously executed or stopped.
Slave A
IN
Primary
UPG
IO MC
periodic task
Priority-16
periodic task
Execution of motion control instructions
Slave A
IN
Primary UPG
IO MC
periodic task
Priority-16
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) in the priority-16 periodic task.
The output variables of the motion control instructions are refreshed at this point.
3
Command Generation
Motion control instructions (FB) are executed in the task period of the priority-16 periodic task
according to the motion control instructions (FB) that were executed. Motion processing is per-
formed during motion control processing (MC) in the next primary periodic task after the periodic
task. During this processing, execution commands for the Servo Drives or 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.
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Primary period
UPG
IO MC
UPG
FB
Task period (primary period × 3)
Primary period
UPG
IO MC
Task period (primary period × 3)
2 Motion Control Configuration and Principles
UPG UPG
IO MC IO
UPG UPG
IO MC IO
UPG
FB
Execution of motion control instructions
Servo
Execution command
UPG
MC IO MC
Servo
Execution command
UPG
MC IO MC
2
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