Omron NJ Series User Manual

2 CPU Unit Operation
2-22
NJ-series CPU Unit Software User’s Manual (W501)
The sequence control period is the task period of the task to which the program and I/O refreshing are
assigned. However, motion control is always executed in the task period of the primary periodic task.
The process data communications cycle for the EtherCAT slave to use for motion control is synchro-
nized with the primary periodic task.
If you assign the sequence control program to the primary periodic task, you can synchronize the
sequence and motion control periods with the process data communications cycle for EtherCAT.
The following diagram shows a program assigned to the primary periodic task. In the following diagram,
the period of sequence control, motion control, and process data communications on EtherCAT are all
synchronized.
2-4-4 Synchronizing Sequence Control and Motion Control
Sequence control
I/O refreshing
Slave/Unit
I/O refreshingI/O refreshing
Slave/Unit Slave/Unit
Motion control
Sequence control period
Motion
control
Motion
control
Motion
control
Sequence control period
Motion control period Motion control periodMotion control period
PDO communi-
cations on
EtherCAT
Process data
communications cycle
Process data
communications cycle
Process data
communications cycle
Sequence control
period (i.e., period of
primary periodic task)
User program
execution
User program
execution
User program
execution

Omron NJ Series Specifications

General

Brand	Omron
Model	NJ Series
Category	Controller
Language	English