Omron NX701-1 User Manual page 58

2 Motion Control Configuration and Principles
 Valid Task Periods for NX701 CPU Unit
For the NX701 CPU Unit, valid task periods depend on the type of task as shown below.
Task
Primary periodic task
Priority-5 periodic task
Priority-16 periodic task
Note The setting conditions of task periods of the primary periodic task and the periodic tasks.
• The task periods for periodic tasks must be set to integer multiples of the task period of the primary
periodic task.
• Set the task period so that the least common multiple of task periods of each task must be less than or
equal to 600 ms.
 Valid Task Periods for NX102 CPU Unit
Only the primary periodic task is valid for an NX102 CPU Unit. Valid task periods are as follows.
Task
Primary periodic task
 Valid Task Periods for NX1P2 CPU Unit
Only the primary periodic task is valid for an NX1P2 CPU Unit. Valid task periods are as follows.
Task
Primary periodic task
 Valid Task Periods for NJ-series CPU Unit
The following table lists the possible combinations of primary periodic task and priority-16 periodic
task periods for the NJ-series CPU Unit.
Primary period
*
500 μs
1 ms
2 ms
4 ms
* Unit version 1.03 or later is required to use this setting on the NJ301 CPU Unit. You cannot use this setting on the
NJ101-10.
2-12
Valid task periods
125 μs, 250 μs to 8 ms (specify in increments of 250 μs)
125 μs, 250 μs to 100 ms (specify in increments of 250 μs)
1 ms to 100 ms (specify in increments of 250 μs)
Valid task periods
1 ms to 32 ms (specify in increments of 250 μs)
Valid task periods
2 ms to 8 ms (specify in increments of 250 μs)
Valid task periods for periodic tasks
1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 8 ms, 10 ms, 15 ms, 20 ms, 25 ms, 30 ms, 40
ms, 50 ms, 60 ms, 75 ms, or 100 ms
1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 8 ms, 10 ms, 15 ms, 20 ms, 25 ms, 30 ms, 40
ms, 50 ms, 60 ms, 75 ms, or 100 ms
2 ms, 4 ms, 8 ms, 10 ms, 20 ms, 30 ms, 40 ms, 50 ms, 60 ms, or 100 ms
4 ms, 8 ms, 20 ms, 40 ms, 60 ms, or 100 ms
NJ/NX-series CPU Unit Motion Control User's Manual (W507)