Safety
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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 157
Revision A8 www.controltechniques.com
When the Real Time program is to large and can not be completed in the update rate time the drive will error.
Figure 167: Diagram of User Program and a Real Time Program
Figure 168 shows how the Real Time program finishes and the two task User programs are processed.
Figure 168: Diagram of User Programs on Two Tasks and a Real Time Program
The following three figures show how the module processes Real Time, Cyclic, and User Programs with different number of
tasks.
Control Loop
Realtime Program
Realtime program must complete every update. If too much
code is put in realitime program, overrun error can occur
User Program
Update Rate
Overrun Error
T0
Control Loop
Realtime Program
Update Rate
Control Loop + Realtime Prog + User Progs on two Tasks
User Program
T1
T0 T1
T0 T1
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