Delta Electronics DVP15MC11T User Manual

Chapter 7 Introduction of Axis Parameters
7
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 Freewheeling task
Freewheeling task： The task will be handled as soon as the program running starts. The task will be
restarted automatically in the next cycle after one execution cycle ends.
 The way a freewheeling task is executed
IO User program
Task execution time 1
Freewhe eling
task
Priority
High
Low
Syst em
processing
IO User program
Task execution time 2
Syst em
processing
System
processing
Note: There is no fixed execution time for the freewheeling task. So the values of task execution time
1 and task execution time 2 may not be equal in the above figure.
 Task triggered by event
Event task： An event task is executed once just when the specified event happens. The timing for
execution of an event task depends on the timing for occurring of the event and the priority level of the
event task.
 The way an event task is executed
IO User program
Task execution time
Task triggered
by event
System
processing
Priority
High
Low
System
processing
Task execution
condition met
 The event tasks for option contain following few types.
- Motion event (Motion control task)
- Rising edge or falling edge of local input points (I0~I7 and I10~I17)
- CANopen SYNC signal
- Z pulse rising edge of incremental encoder 1 or encoder 2
The condition for the second-time execution is ignored when the condition required for execution of the
event task is met again before the event task is completed. The period before an event task is completed
is the course while the event task is being executed or is waiting to be executed.
 Motion Event
Motion port of the controller sends out SYNC signal and the task is triggered.
Note: The motion task is set to priority 1 by default. The priority level can be modified. However, make
sure that there is enough time for execution of the motion task within CANopen SYNC period.
 SYNC cycle setting should meet following conditions.

There must be enough time for execution of the program defined in a motion task.

There must be sufficient time for PDO and SDO data exchange between the controller and servo
drive.
7-3

Delta Electronics DVP15MC11T Specifications

General

Brand	Delta Electronics
Model	DVP15MC11T
Category	Controller
Language	English