SEW-Eurodrive IPOS plus - 5 Task Management and Interrupts; Introduction; Task Management for MOVIDRIVE a and B

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Manual – IPOSplus®

Introduction

Task Management and Interrupts

5 Task Management and Interrupts

5.1 Introduction

IPOS

plus®

can process several subprograms at the same time. One subprogram corre-

sponds to one task. The following functions can trigger interrupts for task 1:

• Timer0 overflow

• System error/unit error

• Touch probe DI02

MOVIDRIVE

B can interrupt task 2 and task 3 with 4 additional interrupts, which are

triggered by the comparison with a variable value.

MOVIDRIVE

A can execute 2 subprograms – task1 and task 2 – running independently

of each other.

MOVIDRIVE

B can execute 3 subprograms – task1, task 2 and task 3 – running inde-

pendently of one another.

You can run MOVIDRIVE

B in the same way as MOVIDRIVE

The following variables are global. All tasks and interrupts use the same variables:

• H0 - H511 for MOVIDRIVE

• H0 - H1023 for MOVIDRIVE

There are no local variables that are only declared in either a task or a function. There

is an overview of the areas reserved for system variables in section "IPOS variables /

Overview of the System Variables".

You can enter the commands in a program window. You must create all program sec-

tions using the same language: Assembler or Compiler.

5.2 Task management for MOVIDRIVE

A and B

Task 1 is the main program. You can start task 1 using the lightning symbol in the toolbar

or using the keypad (P931). Initialize and start task 2 and task 3 using program com-

mands. Task 3 is only available with MOVIDRIVE

B. The interrupt is initialized using

program commands and triggered using an interrupt event. If you stop task 1 using the

STOP icon in the toolbar, this stops the entire IPOS processing. The DBG keypad can

be used to stop all tasks by setting parameter P931 to STOP. When P931 = STOP, only

task 1 is stopped. After a restart the program continues where it was interrupted.

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