Chapter 4 Motion Control Operation
4. Initialization task operation
The initialization task is a task performed only once at the beginning when motion controller is entering the RUN
mode. It is mainly used to set the initial data of the system and the parameter. The initialization task must be also
performed in the set task period like the main task, and an error will occur if the performance of the initialization task
exceeds the set period of the main task, and it is changed to stop state.
When using the basic function block and motion function block in the initialization task program, the function of the
relevant function block may be limited. This is because it is only performed once when it enters the RUN mode due
to the characteristic of the initialization task, and in the case of function block, the output parameter is not updated.
Therefore, when using the basic function block and motion function block in the initialization task program, the
output of the relevant function block may be different to its real function, so please take caution when in use.
P
I/O
refresh
Initial
program
Motion
control
I/O
refresh
Program
Motion
control
Main task period
Main task period
Periodic task period
Perform
main task
Perform
periodic task
Program
Main task period
Waiting waiting
_INIT_DONE = On
I/O
refresh
Program
Motion
control
Prog
ram
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