Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 316

■Priority of the vision system dedicated function
The priority of the vision system dedicated functions in the Motion CPU are shown below.
Process
Motion operation process
Vision system dedicated
function
Motion main process
• The communication process with the vision system has a lower priority than the motion operation cycle, so
the motion operation processing time is not affected.
• Even if the vision system dedicated function is executed from the Motion SFC event task or NMI task,
communication process with the vision system is executed after the motion operation process.
6 COMMUNICATION FUNCTIONS
314
6.5 Vision System Connection Function
Description
Servo operation process, Servo data communication process, Event task of Motion SFC, etc.
Execution of the communication process with the vision system
Communication process with the peripheral devices, Auto refresh process, Normal task process of Motion SFC
Priority
1 (High)
2
3 (Low)