Omron FQM1-MMP21 User Manual

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.

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