WAGO Compact Controller 100 - CODESYS V3 Priorities

WAGO I/O System Compact e!RUNTIME Runtime Environment 107
751-9301 Compact Controller 100
Manual
Version 1.1.0, valid from FW Version 03.08.07(20)
9.2 CODESYS V3 Priorities
A list of priorities implemented for the controller is provided below as
supplementary information to the CODESYS 3 documentation.
Table 48: CODESYS V3 Priorities
Scheduler Task
Linux
®
Priority
IEC
Priority
Remark
Preemptive
scheduling
-
Real-time
range
Local bus or
fieldbus - HIGH
-95 … -86 Local bus (-88)
Mode selector
switch monitoring
-85
Task registers changes
to the mode selector
switch and changes
the state of the PLC
application. (start, stop,
reset warm/cold)
CODESYS
watchdog
-83
Execution of the
watchdog functions
Cyclic and event-
controlled IEC task
-55 … -53
1 … 3
For real-time tasks
which must not be
influenced in execution
by external interfaces
(e.g., fieldbus).
Local bus or
fieldbus - MID
-52 … -43
CAN (-52 … -51)
PROFIBUS (-49
… -45)
Modbus
®
slave/master
(-43)
Cyclic and event-
controlled IEC task
-42 … -32
4 … 14
For real-time tasks
which must not
influence fieldbus
communication during
execution.
Local bus or
fieldbus – LOW
-13 … -4
Fair
scheduling
-
None real-
time range
CODESYS
communication
Back-
ground
(20)
Communication with
the CODESYS
development
environment
Cyclic, event-
controlled and
freewheeling IEC
task
15
Incl. standard priority of
the visualization task