Siemens Sinamics S110 Function Manual page 291

Example
p20000[0] = p20000[3] = p20000[9] = 9003
The computing sequence is:
runtime group 0 first, then runtime group 3, then runtime group 9, and then the setpoint
channel.
The minimum sampling time is 1 ms.
The actual sampling time in ms is displayed for each runtime group in parameter
r20001[0...9].
In the factory setting, none of the runtime groups is called (p20000[x] = 0).
Note
The assignment of a runtime group can only be changed if closed loop control is disabled.
When changing, the runtime group involved is first logged off from the sampling time
management and then logged on again with the new assignment. The runtime group is not
calculated during this operation.
Logon and logoff are performed in a background process of the drive unit. This is the reason
that duration is not defined and depends on the actual calculation time load. This influences
the output signal characteristic in the case of time-dependent blocks (e.g. DIF derivative
action element). Prior to the first computation cycle after logging back on, internal status
variables of the blocks are partially reset.
For both of these reasons, this can result in jumps in the output signal of blocks, which for
example can influence the torque/force setpoint and, for axes in operation, the torque/force
actual value as well. Logic signals can also assume an unexpected state at this instant.
Function Manual
Function Manual, 01/2011, 6SL3097-4AB10-0BP3
Drive functions
7.3 Function modules
289