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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.
The CX-Programmer can be used to allocate one program to each of many tasks, as required by the system.
Type of task Description
Sync mode scheduled
interrupt tasks
The sync mode scheduled interrupt task is executed once every sync cycle. This interrupt
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.
END
END
Cyclic
task
Allocated
Allocated
Interrupt
task
I/O refresh
Program A
Program B
Each program ends
with an END(001)
instruction.
Interrupt
condition
met