Emerson Control Techniques FM-4 Reference Manual page 162

FM-4 Programming Module Reference Manual
been assigned by the user), the whole process starts over at the first task. This process is accurate as long as no program is
blocked. The following figure shows examples of user programs and task numbers and how the drive processes them.
Control Loop
User Program
Control Loop
User Program
Control Loop
User Program
Control Loop
User Program
Figure 130: Diagram of User Programs with Multiple Tasks
The following three figures are timing diagrams of a cyclic program with different utilization values (showing the effect) and
a user program initiated to run on a single task.
148
T0 T0
Update Rate
T0
T1
Update Rate
T0 T1
Update Rate
Control Loop + User Programs on two large Tasks
T0 T0
Update Rate
Control Loop + User Program on one Task
T0 T0
Control Loop + User Programs on two Tasks
T0 T1
Control Loop + User Programs on three Tasks
T2 T0
T0 T1
T0 T0
T0 T1
T1 T2
T1 T0