Chapter 5 Memory and Parameter
5.1.3 Parameter
1. Basic parameter
Explain Basic parameter of the motion control module.
(1) Basic motion setting
(a) Main task cycle
- Set the motion period of the main task. The period can be set by selecting one in 0.5ms/1ms/2ms/4ms.
- Set the control time of performing in the main task of motion controller considering the execution time of program.
- When the execution time of the main task exceeds the main task period, an error occurs and if motion control module is in
RUN state, it is changed to STOP state, the operation of the motion controller is stopped immediately, and an error is
generated.
(b) Periodic task cycle
- Set the motion period of the periodic task. The period can be set in multiples of the main task between 1 ~ 100ms.
- The periodic task is performed in the remaining time after performing the main task in the control period, and therefore, it can
be performed through a number of control periods.
(c) Detecting cycle errors of the main task
- It sets the run time of the main task that causes errors when the task runs beyond the set time. The setting range is 1~100ms.
(d) Detecting cycle errors of the periodic task
- It sets the run time of the periodic task that causes errors when the task runs beyond the set time. The setting range is
10~100ms.
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