Control Techniques Epsilon EP-P Reference Manual page 133

Real Time Program
Figure 133:
When the Real Time program is to large and can not be completed in the update rate time the drive will fault.
Real Time Program
Figure 134:
Figure 135 shows how the Real Time program finishes and the two task user programs are processed.
Real Time Program
Figure 135:
Epsilon EP-P Drive Reference Manual
Revision A4
Control Loop Control Loop
User Program User Program
Update Rate
Diagram of User Program and a Real Time Program
Control Loop Control Loop
User Program User Program
Update Rate
Diagram of User Program and a Real Time Program
Control Loop
User Program T0
Update Rate
Diagram of User Programs on Two Tasks and a Real Time Program
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User program can be "choked" if too much code is put into
real time program
Real Time program must complete every update rate. If too
much code is put in realitime program, overrun error can
occur
Overrun Error
Control Loop + Real Time Prog + User Progs on two Tasks
T1 T0 T1 T0 T1
119