2-13
2 Motion Control Configuration and Principles
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
2-3 Motion Control Principles
2
2-3-2 Example of Task Operations for Motion Control
Motion control instructions can be used in the primary periodic task, in a priority-5 periodic task, or in a
priority-16 periodic task. This section provides examples of task operations.
If high-speed motion control is required, place the motion control instructions (FB) in the primary peri-
odic task.
1
Loading Data
The input data from the EtherCAT slaves (slave A) is loaded during the I/O refresh (IO).
2
Instruction Execution
The motion control instructions (FB) are executed based on the data that was loaded during
user program execution (UPG).
The output variables of the motion control instructions are refreshed at this point.
3
Command Generation
Motion processing according to the motion control instructions (FB) that were executed is per-
formed during motion control (MC) immediately after user program execution in the primary
periodic task. During this processing, execution commands for the Servo Drives and other
devices are generated.
4
Sending Commands
The execution commands that were generated are sent to the Servo Drive or other device
during the I/O refresh (IO) in the next period.
All instructions from inputs to execution command outputs to the Servo Drive or other device are
processed quickly in this task. We recommend placing all motion control instructions in the pri-
mary periodic task.
2-3-2 Example of Task Operations for Motion Control
Using Motion Control Instructions in the Primary Periodic Task
IN
UPG
FB
IO MC UPG
FB
IO MC
Primary period Primary period
Execution of motion control instructions
Servo
Execution command
Slave A
Primary
periodic task
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