Omron NX701-1 User Manual page 71

 NX102 CPU Unit, NX1P2 CPU Unit, and NJ-series CPU Unit
• Primary period = Motion control period = Process data communications cycle for EtherCAT com-
munications
Execution of user
program in PLC
Function Module
Sequence control period
(primary periodic task)
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
2 Motion Control Configuration and Principles
CPU Unit
Motion control processing
by MC Function Module
Communications cycle
Motion control period
(EtherCAT data communi-
= Primary periodic
cations cycle = Primary
task period
periodic task period)
Sequence control period
(primary periodic task period or
Basic I/O Units and
periodic task period)
Special Units
Processing in slave
EtherCAT
Data refresh
period in slave
(depends on
the slave)
Slaves
2-25
2