Emerson EZMotion User Manual page 168

Control Loop
Cyclic Program
User Program
Figure 164:
The next two figures show how the Real Time program is executed prior to the user program and how the size of the Real Time
program effects the time left in the update rate for the user program to complete.
Control Loop
Realtime Program
User Program
Figure 165:
Control Loop
Realtime Program
User Program
Figure 166:
156
Cyclic Program Utilization
set to 70%
T0 T1
Update Rate
Cyclic Update = 3x Update Rate
Diagram of User Programs on Three Tasks and a Cyclic Program
Control Loop + Realtime Prog + User Prog on one Task
T0
Update Rate
Diagram of User Program and a Real Time Program
Update Rate
Diagram of User Program and a Real Time Program
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Control Loop + Cyclic Prog + User Progs on three Tasks. Note how
when the number of Tasks is the same as the Cyclic Program
Update Rate setting, some programs get shortchanged. This
should be avoided by changing the Cyclic Program Update Rate
T2
T0 T0
User program can be "choked" if too much code is put into
realtime program
T0 T1 T2
T0 T0
EZMotion User/Programming Guide
T0
Revision: A8