LSIS XGT Series User Manual

Chapter 4 Motion Control Operation
4-5
(2) Performance time of main task > Main task period
Main task period Main task period Main task period
I/O
refresh
Processing
program
Motion
control
I/O
refresh
Processing program
Performance time
of main task
Main task periodic : 1ms
Main task periodic error : 2ms
Main task period
Periodic
warning
Periodic
warning
Periodic
error
History
I/O
refresh
Motion
control
RUN RUN RUN ERROR
History
3. Periodic task operation
The periodic task is performed in the remaining time after performing the main task in the set control period and it
can be performed over many control periods depending on the performance time of the task
If the execution of periodic task exceeds the set periodic task cycle, a warning occurs. If the periodic task
execution is not completed during the ‘periodic task cycle error’ detection time, the operation is stopped
immediately, and an error is generated if the motion controller is in the RUN state. The motion controller enters
the ERR state.
(1) Performance time of periodic task ≤ Periodic task period
I/O
refresh
Program
Motion
control
Program
I/O
refresh
Program
Motion
control
Program
Main task period Main task period
Periodic task period
Perform
main task
Perform
periodic task
WaitingWaiting
Performance time of periodic task

LSIS XGT Series Specifications

General

Brand	LSIS
Model	XGT Series
Category	Controller
Language	English