Control Techniques Epsilon EP-P Reference Manual page 134

The following three figures show how the drive processes Real Time, Cyclic, and User Programs with different number of tasks.
Real Time Program
Figure 136:
Real Time Program
Figure 137:
Real Time Program
Figure 138:
120
Cyclic Program Utilization
set to 80%
Control Loop
Cyclic Program
User Program T0
Update Rate
Cyclic Update = 4x Update Rate
Diagram of User Program, a Real Time Program and a Cyclic Program
Cyclic Program Utilization
set to 80%
Control Loop
Cyclic Program
T0
User Program
Update Rate
Cyclic Update = 4x Update Rate
Diagram of User Program on Two Tasks, a Real Time Program and a Cyclic Program
Control Loop
Cyclic Program
User Program
Update Rate
Cyclic Update = 4x Update Rate
Diagram of User Programs on Three Tasks, a Real Time Program and a Cyclic Program
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Control Loop + Real Time + Cyclic + User Program on one Task.
Cyclic Program Update Rate set to 4x Trajectory Update Rate and
Utilization set to 80%.
T0
T0 T0
Control Loop + Real Time + Cyclic + User Programs on two Tasks.
Cyclic Program Update Rate set to 4x Trajectory Update Rate and
Utilization set to 80%.
T1 T0 T1
Control Loop + Real Time + User Programs on three Tasks.
Cyclic Program fUpdate Rate set to 4x Trajectory Update Rate and
Utilization set to 80%.
T0
T0 T0
T0 T1 T0
Epsilon EP-P Drive Reference Manual
Revision: A4