Emerson EZMotion - Page 170

158 EZMotion User/Programming Guide
www.controltechniques.com Revision: A8
Figure 169: Diagram of User Program, a Real Time Program and Cyclic Program
Figure 170: Diagram of User Programs on Two Tasks, a Real Time Program and a Cyclic Program
T0
Control Loop
Cyclic Program
Update Rate
User Program
T0
T0
Cyclic Update = 4x Update Rate
Control Loop + Realtime + Cyclic + User Program on one Task.
Cyclic Program Update Rate set to 4x Trajectory Update Rate and
Utilization set to 80%.
Cyclic Program Utilization
set to 80%
Realtime Program
T0 T0
T0
T0
T0
Control Loop
Cyclic Program
Update Rate
User Program
T1
T0
Cyclic Update = 4x Update Rate
Control Loop + Realtime + Cyclic + User Programs on two Tasks.
Cyclic Program Update Rate set to 4x Trajectory Update Rate and
Utilization set to 80%.
Cyclic Program Utilization
set to 80%
Realtime Program
T1 T0
T1
T0