Control Techniques Epsilon EP-P User Manual

Epsilon EP-P Drive Reference Manual 119
Revision A4 www.controltechniques.com
Figure 133: Diagram of User Program and a Real Time Program
When the Real Time program is to large and can not be completed in the update rate time the drive will fault.
Figure 134: Diagram of User Program and a Real Time Program
Figure 135 shows how the Real Time program finishes and the two task user programs are processed.
Figure 135: Diagram of User Programs on Two Tasks and a Real Time Program
Control Loop
User program can be "choked" if too much code is put into
real time program
User Program
Control Loop
Update Rate
User Program
Real Time Program
Control Loop
Real Time program must complete every update rate. If too
much code is put in realitime program, overrun error can
occur
User Program
Control Loop
Real Time Program
Update Rate
User Program
Overrun Error
T0
Control Loop
Real Time Program
Update Rate
Control Loop + Real Time Prog + User Progs on two Tasks
User Program
T1
T0 T1
T0 T1

Control Techniques Epsilon EP-P Specifications

General

Brand	Control Techniques
Model	Epsilon EP-P
Category	Servo Drives
Language	English