Task And Interrupt Processing - Mitsubishi Electric Melsec Q Series Programming Manual
Motion controller (sv13/sv22)
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Also See for Melsec Q Series:
- User manual (834 pages) ,
- Reference manual (674 pages) ,
- Programming manual (624 pages)
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9 OPERATION FOR MOTION SFC AND PARAMETER
9.13 Task and Interrupt Processing
Processing priority
Motion setting operation cycle (SD523)
Motion operation cycle (SD522)
Fixed-cycle system
processing
Motion SFC fixed-cycle
task
Motion operation
processing
Motion SFC normal
task/main cycle
processing
In the Motion CPU, the required operations over a fixed cycle are divided into tasks.
Depending on the Motion CPU internal processing timing, the interrupt processing can
affect tasks, therefore programs need to be designed with care.
(1) Processing timing and processing time monitor device
The Motion CPU internal processing timing and corresponding processing time
monitor devices are shown in the following diagram.
Fixed-cycle system
processing time
Motion SFC fixed-cycle
task processing time
Motion operation task
processing time
(2) Interrupt processing
In the Motion CPU, fixed-cycle system processing, Motion SFC fixed-cycle task,
and Motion operation processing are executed with priority over main cycle
processing. Therefore, if Motion setting operation cycle (SD523) is exceeded in
the middle of main cycle processing, the main cycle processing is interrupted by
the execution of the next Motion operation cycle processing. Main cycle
processing restarts when the interrupting Motion operation cycle processing is
completed.
Because this interrupt processing is also executed in the middle of operations of
the Motion SFC program, depending on the program contents, the Motion SFC
program may not execute correctly.
Motion SFC normal task
processing time
Scan time (SD520, SD521)
9 - 17
: Motion SFC processing
: System processing
Time
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