44
Manual – IPOSplus®
5
Tasks for MOVIDRIVE
®
B
Task Management and Interrupts
When you assign the maximum number of additional commands/ms to task 1 and task
2, the following combinations are possible:
Example: P938 = 2, P939 = 3 => Task 1 processes 3 commands/ms, task 2 processes
5 commands/ms
5.4.2 Task 3
Task 3 is available from the B series units. Task 3 processes at least 1 command/ms.
Depending on the unit configuration and on the setting of P938/P939, task 3 will perform
additional commands. 20 ... 40 commands/ms is the typical number of commands for
task 3. The absolute resource requirements for command processing is ca. 20 ... 40%
lower in task 3 compared with task 1 or task 2. Application components, for which the
guaranteed run time of the individual program lines is not important, are processed
faster in task 3.
5.4.3 Implementation information
In contrast to MOVIDRIVE
®
A, you program the motion sequence in task 1 or task 3.
Program the following functions in task 2 or task 3:
• Rapid, time-critical processes
•Calculations
• Monitoring for system values
• Communication with the SEW operator terminals
• Copying variables cyclically to the oscilloscope variables H474, H475
• Formatting the fieldbus/SBus process data with a machine control function or
another MOVIDRIVE
®
In this way, IPOS
plus®
also performs these functions when the interrupt routine is active
in task 1.
Note that in contrast to task 3, the processing time per command in task 2 is determin-
istic.
Task 1 Task 2
P938 Command/ms P939 Command/ms
01 911
12 810
23 79
34 68
45 57
56 46
67 35
78 24
89 13
91002
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