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Programming Appendix A
Scheduled Interrupt Task
The interrupt response time of scheduled interrupt tasks is the time taken from after the scheduled time speci-
fied by the STIM(980) instruction has elapsed until the interrupt task is actually executed. The maximum inter-
rupt response time for scheduled interrupt tasks is 0.1 ms.
Also, a dedicated timer is used for the specified scheduled interrupt time (minimum of 0.5 ms), so there is
essentially no error in the time.
Note Scheduled interrupt tasks can be executed during execution of the user program, I/O refresh, peripheral
servicing, or overseeing processes. (During user program execution, instruction execution is suspended
to execute the interrupt task.) The response time is not affected by the type of process being executed
when the input interrupt is generated. A schedule interrupt task, however, will not be executed immedi-
ately if another interrupt task is already being executed. Execution of the next scheduled interrupt task
will wait until the current interrupt task has completed execution and then start after the software inter-
rupt response time.
Motion Control Module Interrupt Processing Times
This section describes the processing time required to generate the interrupt and call the interrupt task, and
the processing time to return to the original location after completing the interrupt task. This information applies
to the following four types of interrupt.
• Input interrupts
• Interval timer interrupts
• High-speed counter interrupts
• Pulse output interrupts
Input
Interrupt signal
accepted
Interrupt task
executed
Input ON delay time
Software interrupt response time
Input interrupt task
interrupt response time
Return time from
input interrupt task
Cyclic task execution
(main program)
Task program
execution time
Accepting next
interrupt signal
enabled
61 µs is required from when execution of input interrupt task
program is completed until returning to cyclic task execution.
Internal timer
Scheduled interrupt
task
Software interrupt response time
Scheduled interrupt time