Delta Electronics DVP15MC11T, Operation Manual

Page: 66 / 601

Chapter 7 Introduction of Axis Parameters
7_
○
3
E A
The controller will execute the system processing if there is no other task after the execution of
the freewheeling task is completed.
A
○
4
E A
The execution of the freewheeling task continues since the high-priority cyclic task request has
not arrived.
A
○
5
E A
The cyclic task interrupts the freewheeling task execution and the controller executes the cyclic
task because of the arrival of the high-priority cyclic task request during the execution of the
freewheeling task.
A
○
6
E A
The controller continues to execute the part of the low-priority freewheeling task, which has not
been executed yet when the execution of the cyclic task is completed.
A
○
7
E A
When the execution of the freewheeling task is completed, the controller executes the system
processing due to no other task request.
A
○
8
E A
When the system processing is completed, the execution of the freewheeling task continues due
to no high-priority cyclic task request.

When three tasks are executed in mixture (Event task, Cyclic task and Freewheeling task)
Task tr igg er ed by
e ve nt
( )
P rio rit y 1
Syst em
p ro cessing
P riorit y
Hig h
Low
IO
User
program
IO
User
program
F re ewh eelin g task
( )
Pr ior ity 2
Task execution
c ondition met
Task execution
finis hed
Cyclic task
(Pr ior ity 3)
Us er
program
Pau se
Paus e
The ev ent tas k has not be en t rig gered
Tas k exe cut ion t ime
Tas k exec ution
finished
Task execution
c ondition met
IO
User
program
Time int erv al between tasks Time interv al between tasks
IO
User
program
System
pr ocessing
IO
Us er
program
Task ex ec ution time
IO
User
program
I O
Us er
program
Task execution
condition met
Task ex ecution
finis hed
Task execution
c ondition met
P aus e
Tas k
execution
finished
Task execution
condition met
Task execution
finis hed
Tas k ex ec ution
condition met
Task ex ecution
finis hed
Task execution
c ondition met
Tas k exec uti on t im e
Task exec ut io n time
Tas k ex ecu tion time
Time interv al between tasks
Syste m
pr oce ssin g
System
pr ocessing
1 2
3
4 5 6
8 9
1 0
1 1
1 2
7
A
○
1
E A
When the conditions for execution of the freewheeling task and cyclic task are both met, the
freewheeling task is executed first because the priority of the freewheeling task is higher.
A
○
2
E A
The cyclic task execution starts when the freewheeling task execution is completed.
A
○
3
E A
When the cyclic task execution is completed, the controller executes the system processing due
to no other task request.
A
○
4
E A
The freewheeling task is executed when the system processing is completed.
A
○
5
E A
When the freewheeling task execution is completed, the controller executes the system
processing due to no other task request.
A
○
6
E A
The freewheeling task is executed when the system processing is completed.
A
○
7
E A
The freewheeling task execution continues because the freewheeling task has a higher priority
than the cyclic task although the execution condition for the cyclic task is met. And the cyclic task
waits to execute.
7-5