Omron NX701-1 User Manual page 53

Task Assignment
• Axes and axes groups can be assigned to either of the primary periodic task and the priority-5
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.
Assignment possible
Axis 1: Primray periodic task
Axis 2: Primray periodic task
• 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.
Precautions for Correct Use Precautions for Correct Use
Yon cannot execute motion control instructions from the user program that is operated in the pri-
ority-5 periodic task for the axes and axes groups that are assigned to the primary periodic task.
If you perform the execution, depending on whether the axes that are assigned to the priority-5
periodic task exist or not, the operation differs as follows.
• If the axes that are assigned to the priority-5 periodic task exist, an Illegal Axis Specification
(event code: 54600000 hex) occurs.
• If the axes that are assigned to the priority-5 periodic task do not exist, motion control instruc-
tions are executed, however, do not use the instructions due to the variations of execution tim-
ing.
Similarly, you cannot execute motion control instructions from the user program that is operated
in the primary periodic task for the axes and axes groups that are assigned to the priority-5 peri-
odic task.
• You cannot 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 priority-5
periodic task. If you perform the execution, an Illegal Axis Specification (event code:
54600000 hex) occurs.
Additional Information
Refer to Section 3 Configuring Axes and Axes Groups for details on axes and axes groups.
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
2 Motion Control Configuration and Principles
Assignment NOT possible
I/O device
(Primary
periodic task)
Axis 1: Primray periodic task
CH1
Axis 2: Priority-5 periodic task
CH2
I/O device
(Primary
periodic task)
CH1
CH2
2
2-7