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When the Real Time program is to large and can not be completed in the update rate time the drive will error.
Control Loop
Realtime Program
User Program
Figure 167:
Figure 168 shows how the Real Time program finishes and the two task User programs are processed.
Control Loop
Realtime Program
User Program
Figure 168:
The following three figures show how the module processes Real Time, Cyclic, and User Programs with different number of
tasks.
EZMotion User/Programming Guide
Revision A8
Realtime program must complete every update. If too much
code is put in realitime program, overrun error can occur
Update Rate
Diagram of User Program and a Real Time Program
Control Loop + Realtime Prog + User Progs on two Tasks
T0
T1
Update Rate
Diagram of User Programs on Two Tasks and a Real Time Program
www.controltechniques.com
Overrun Error
T0
T1
T0
T1
157
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