Safety
Information
Introduction Installation
PowerTools
Pro Software
Communications
How
Motion
Works
How I/O
Works
Configuring
an
Application
Programming
Starting and
Stopping
Motion
Starting and
Stopping
Programs
Parameter
Descriptions
Drive
Parameters
Used by
EZMotion
Diagnostics Glossary Index
EZMotion User/Programming Guide 153
Revision A8 www.controltechniques.com
programs. The user programs are assigned to tasks, and the tasks are handled in ascending order starting with task 0. If a
task has been assigned, but not initiated, then that task can be skipped. When the next interrupt occurs, the task is stopped,
and the process is repeated using the next available task. Once each task has been processed (depends on how many have
been assigned by the user), the whole process starts over at the first task. This process description is accurate as long as no
program is blocked. The following figure shows examples of user programs and task numbers and how the ezmotion
processes them.
Figure 159: Diagram of User Programs with Multiple Tasks
The following three figures are timing diagrams of a cyclic program with different utilization values (showing the effect) and a
user program initiated to run on a single task.
T0
T0 T0 T0 T0
Control Loop
User Program
T0
Update Rate
Control Loop + User Program on one Task
T0
T1 T0 T1 T0
Control Loop
User Program
T1
Update Rate
Control Loop + User Programs on two Tasks
T0
T1 T2 T0 T1
Control Loop
User Program
T2
Update Rate
Control Loop + User Programs on three Tasks
T0
T0
T0 T1 T1
Control Loop
User Program
T0
Update Rate
Control Loop + User Programs on two large Tasks
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