Codesys V3 Priorities; Table 48: Codesys V3 Priorities - WAGO Compact Controller 100 Manual

WAGO I/O System Compact
751-9301 Compact Controller 100
9.2

CODESYS V3 Priorities

A list of priorities implemented for the controller is provided below as
supplementary information to the CODESYS 3 documentation.

Table 48: CODESYS V3 Priorities

Scheduler
Preemptive
scheduling
-
Real-time
range
Fair
scheduling
-
None real-
time range
Linux
Task
Priority
Local bus or
-95 ... -86
fieldbus - HIGH
Mode selector
-85
switch monitoring
CODESYS
-83
watchdog
Cyclic and event-
-55 ... -53 1 ... 3
controlled IEC task
Local bus or
-52 ... -43
fieldbus - MID
Cyclic and event-
-42 ... -32 4 ... 14
controlled IEC task
Local bus or
-13 ... -4
fieldbus – LOW
CODESYS
communication
Back-
ground
Cyclic, event-
(20)
controlled and
freewheeling IEC
task
Version 1.1.0, valid from FW Version 03.08.07(20)
e!RUNTIME Runtime Environment 107
® IEC
Remark
Priority
Local bus (-88)
Task registers changes
to the mode selector
switch and changes
the state of the PLC
application. (start, stop,
reset warm/cold)
Execution of the
watchdog functions
For real-time tasks
which must not be
influenced in execution
by external interfaces
(e.g., fieldbus).
CAN (-52 ... -51)
PROFIBUS (-49
... -45)
Modbus
(-43)
For real-time tasks
which must not
influence fieldbus
communication during
execution.
Communication with
the CODESYS
development
environment
Incl. standard priority of
15
the visualization task
slave/master
®
Manual