Tasks And Programs - Omron CJ - PROGRAMMING MANUAL 12-2009 Programming Manual

Task Features
4-1-2

Tasks and Programs

Note
6. Easily understood user programs.
Programs are structured in blocks that make the programs much simpler
to understand for sections that would conventionally be handled with in-
structions like jump.
Task C
Start task A
Start task B
• Up to 288 programs (tasks) can be controlled. Individual programs are
allocated 1:1 to tasks. Tasks are broadly grouped into the following types:
• Cyclic tasks
• Interrupt tasks
1. Up to 32 cyclic tasks and 256 interrupt tasks for a maximum total of 288
tasks can be created. Each task has its own unique number ranging from
0 to 31 for cyclic tasks and 0 to 255 for interrupt tasks.
2. Interrupt task (interrupt task numbers 0 to 255) can be executed as cyclic
tasks by starting them with TKON. These are called "extra cyclic tasks." If
extra cyclic tasks are used, then the total number of cyclic tasks that can
be used is 288.
The CS1G/H-CPU@@(-V1) and CJ1@-CPU@@ CPU Units do not support
this function.
3. CJ1@-CPU@@ CPU Units do not currently support I/O interrupt tasks and
external interrupt tasks. The maximum number of tasks for a CJ1 CPU Unit
is thus 35, i.e., 32 cyclic tasks and 3 interrupt tasks. The total number of
programs that can be created and managed is also 35.
Each program allocated to a task must end with an END(001) instruction. I/O
refreshing will be executed only after all task programs in a cycle have been
executed.
Section 4-1
Task A
(Program A)
Task B
(Program B)
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