Omron FQM1-MMA21, FQM1-CM001, FQM1-MMP21 operation manual Appendix A, Programming Programs and Tasks

Appendix A

Programming

Programs and Tasks

Tasks

There are basically two types of task.

1.Cyclic Task

The cyclic task is executed once each cycle.

2.Interrupt Tasks

An interrupt task is executed when the interrupt condition is met, even if this occurs while the cyclic task is being executed.

There are three types of interrupt task.

Type of task	Description
Sync mode scheduled	The sync mode scheduled interrupt task is executed once every sync cycle. This interrupt
interrupt tasks	task is supported only by the Coordinator Module.
Input interrupt tasks	Input interrupt tasks are executed when a built-in input turns ON, OFF, or both on a Motion
	Control Module.
Normal interrupt tasks	Other interrupt tasks can be executed according to task number specified in programming
	instructions. These include one-shot interrupts, interval timer interrupts, high-speed
	counter target value interrupts, pulse output counter target value interrupts, etc.

The CX-Programmer can be used to allocate one program to each of many tasks, as required by the system.

		Program A
	Allocated
		END
	Allocated	Program B
		Each program ends
Cyclic	Interrupt	with an END(001)
		instruction.
task	condition
	met	END
	Interrupt
	task

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