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processes may run at lower or higher priorities. These include processing the communications. The cyclic programs are suspended
and resumed based the utilize percentage and trajectory rate.
9.4
User Programs View
Click on Programs\Program#, the program view will appear on the right (see Figure 154). The left side (pane) of this view contains
the instruction list. The right side of the Programs view contains the Program Toolbar above the program code window.
Figure 154:
9.4.1
Program Parameters for User Programs
Figure 155:
Program Name
The user can enter a descriptive name up to 12 characters for the specific user program.
Program Number
Each program has an associated Program Number. The number helps to keep the programs organized.
Task Number
The Task Number parameter determines which task the program runs on. Default Task Number is 0. Users can select Task Numbers
from 0 to 3. Programs assigned to different tasks can run simultaneously due to the multitasking capabilities of EZMotion. Programs
assigned to the same task cannot run at the same time.
For more information on Multitasking, refer to Program Multi-Tasking on page 151.
Run Anytime Enable
EZMotion programming environment has been designed to automatically stop all user programs when a error occurs (regardless of
what type of error), or when the drive is disabled. Some applications require the ability to run a program as soon as a error occurs, or
continue running a program even through a error is active. In order to do this, the program must be classified as "Run Anytime". To
configure the program to be able to run during a error or while the drive is disabled, the Run Anytime check box must be selected in
the Program view. Figure 151 shows an example of the Run Anytime check box after it has been selected.
When a error occurs, the drive will still be disabled, and no motion will be possible. For this reason, it may be necessary to reset the
error in the Run Anytime program prior to initiating motion again. If a motion instruction is processed while the drive is disabled, the
program will stall on that particular line of the program, but the program will not be stopped.
Certain conditions will still cause a program designated as Run Anytime to stop. These conditions are listed below:
• Stop Function is activated
• Run Anytime program has a Program error
Multiple programs may be configured as Run Anytime programs. Run Anytime programs can be called from a user program just the
same as any other program. If a Run Anytime program calls another program which is not configured as Run Anytime, while the
drive is faulted or disabled, the task will be stopped.
150
User Program View
Program Parameters
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EZMotion User/Programming Guide
Revision: A8
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