Delta DVP-15MC Series User Manual

Chapter 7 Introduction of Axis Parameters
7-3
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able to perform system processing and the problems such as communication timeout will take
place.
 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
Freewheeling
task
Priority
High
Low
System
processing
I O User program
Task execution time 2
System
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
Event Task
System
processing
Priority
High
Low
Task execution
condition met
System
processing
 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

Delta DVP-15MC Series Specifications

General

Brand	Delta
Model	DVP-15MC Series
Category	Controller
Language	English