Omron NJ Series User Manual

5 Designing Tasks
5-4
NJ-series CPU Unit Software User’s Manual (W501)
5-2 Task System
This section describes the task system used by NJ-series Controllers.
Tasks are used to assign an execution condition and execution order to a series of processes, such as
I/O refreshing and user program execution.
There are three kinds of tasks, as shown in the following table. They are defined by their execution con-
ditions and execution priorities.
Version Information
A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required
to use event tasks.
5-2-1 Overview of Tasks
Tasks
Type of
task
Number
of tasks
Task execu-
tion priority
Definition Main processing content
Primary
periodic
task
1 4 The primary periodic task is executed
once every task period. It has higher pri-
ority than any other task. Motion control
and EtherCAT communications are exe-
cuted on the primary periodic task
period.
I/O refreshing, user pro-
gram execution, and
motion control
Periodic
tasks
0 to 3 16, 17, or 18 The periodic tasks are executed once
every task period.
The processing that can
be performed depends on
the task execution priority.
• Execution priority 16:
I/O refreshing, user pro-
gram execution, and
motion control
• Execution priority 17 or
18: User program exe-
cution
Event tasks 0 to 32 8 or 48 An event task is executed only once
when the specified execution condition is
met.
User program execution

Omron NJ Series Specifications

General

Brand	Omron
Model	NJ Series
Category	Controller
Language	English