YASKAWA iC9200 Series Operating Manual page 102

Deployment CPU iC921xM-EC
System variables and status information > System variables
Task handling
System variable
ESM_DATA
ESM_COUNT
ESM_INFOS
[1] ... [2]
TASK_COUNT
TICK_COUNT
TICK_INTERVAL
TASK_INFOS
[1] ... [16]
INTERVAL
PRIORITY
WATCHDOG
LAST_EXEC_DURATION
MIN_EXEC_DURATION
MAX_EXEC_DURATION
LAST_ACTIVA-
TION_DELAY
MIN_ACTIVATION_DELAY
MAX_ACTIVATION_DELAY
EXEC_TIME_THRESHOLD
1
EXEC_TIME_THRESHOLD
_CNT
102
■
In iCube Engineer programs and program parts are treated as tasks.
■
The Execution & Synchronization Manager (ESM) is responsible for coordinating and
processing the individual tasks.
■
You can use the ESM_DATA system variable to retrieve information about the ESM's
task handling.
■
ESM_DATA is a system variable organized as a data structure.
Type - description
ESM_DAT - data structure
USINT - number of ESM (one ESM per processor core).
ESM_INFO_ARRAY
ESM_INFO - Information about the ESM [1 ... 2]
UINT - number of tasks that were configured for the ESM.
UDINT - always 0.
UDINT - always 0.
TASK_INFO_ARRAY
TASK_INFO - Information about the tasks [1 ... 16].
LINT - time interval
1
■
■
INT - priority of the task
1
LINT - watchdog time in μs (0 = no watchdog).
1
■
■
LINT - execution time of the task in the previous cycle in μs.
■
LINT - Minimum execution time of the task in μs.
■
LINT - Maximum execution time of the task in μs.
■
LINT - delay time of the task in the previous cycle in μs.
■
LINT - Minimum delay time of the task in μs.
■
LINT - Maximum delay time of the task in μs.
■
LINT - threshold that you can define for the sum of the execution
time and the delay time.
UDINT - If the defined threshold EXEC_TIME_THRESHOLD
is exceeded, the value of the variable
EXEC_TIME_THRESHOLD_CNT is incremented.
With cyclic tasks: Time interval in μs
With acyclic tasks: 0
Watchdog time you define for the sum of the execution time and
the delay time.
If the watchdog time is exceeded, the watchdog is triggered.
This also includes interruptions due to higher-priority tasks.
This also includes interruptions due to higher-priority tasks.
This also includes interruptions due to higher-priority tasks.
A delay occurs when higher priority tasks are pending at the
time of task activation.
A delay occurs when higher priority tasks are pending at the
time of task activation.
A delay occurs when higher priority tasks are pending at the
time of task activation.
.
2
HB700 | CPU | PMC921xEx | en | 24-04
iC9200 Series