Nidec SM-Applications Series User Manual

SM-Applications Modules & Motion Processors User Guide 111
Issue Number: 4
Safety
Information
Introduction Installation
Getting
Started
Parameters
DPL
Programming
Communications
Freeze and
Marker
CTSync
Inter-option
Synchronization
Diagnostics
Migration
Guide
Quick
Reference
Index
10.4 Position control tasks
The position control tasks consist of POS0, APC and POS1. The tasks are run in this
order (POS0 runs first followed by the APC which is followed by POS1). Because the
POS0 and APC tasks may not take the same time to execute on different modules the
APC and POS1 tasks cannot be phased Therefore when using Inter-option
synchronization the user must be aware that the position tasks as a whole for each
module will start in phase, not the individual tasks. Figure 10-5 Position control tasks
shows an example of this.
Figure 10-5 Position control tasks
250µs 250µs 250µs 250µs
POS0 tasks in phase
POS0
POS0 POS0 POS0 POS0
POS0 POS0
Slot
APC POS1 APC
APC POS1
APC tasks not in phase
POS1
1
2
3

Nidec SM-Applications Series Specifications

General

Brand	Nidec
Model	SM-Applications Series
Category	Control Unit
Language	English