Motion Coordinator Technical Reference Manual
Programming 7-13
Parameters
The two highest numbered processes (14 and 13 in our example MC216) are
allocated a fixed time slot. These are referred to as the “fast” tasks. They should
be used for processes which require:
• Guaranteed processing every servo cycle
• A large number of calculations or processing
• Program execution which does not vary in speed as tasks are started or
stopped.
Any other processes (including the command line) share the third time slot.
Execution speed will therefore reduce as the number of programs running
increases. In practice however, a useful execution speed is still obtained.
Processes 1..12 are referred to as “slow” tasks.
Programs can be forced to run on a specific process using the commands
RUN
or
RUNTYPE
:
If equal time is required to be given to all programs, the high priority processes
(14 and 13) should NOT be used. The time available will then be divided evenly
between the remaining processes. The command line and processes 1, 2 & 3
share the remaining third. These programs and the command line use the
available time slot with equal priority
>>RUN "progname",7
Run the named program immediately on
specified task
>>RUNTYPE “progname”,ON,7
Assigns start-up mode for specified program
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