Mitsubishi Electric Melsec Q Series Programming Manual page 537

APPENDICES
(c) Priority of the vision system dedicated function
The priority of the vision system dedicated functions in the Motion CPU are
shown below.
Process
Motion operation process
Vision system dedicated
function
Motion main process
POINT
(1) The communication process with the vision system has a lower priority than
the motion operation cycle, so the motion operation processing time is not
affected.
(2) Even if the vision system dedicated function is executed from the Motion SFC
event task or NMI task, communication process with the vision system is
executed after the motion operation process.
Description
Servo operation process, Servo data communication
process, Event task of Motion SFC, etc.
Execution of the communication process with the
vision system
Communication process with the peripheral devices,
Auto refresh process, Normal task process of Motion
SFC
APP - 46
Priority
High
Low