Delta DVP-15MC Series, Operation Manual

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Chapter 7 Introduction of Axis Parameters
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able to perform system processing and the problems such as communication timeout will take
place.

Freewheeling task
Freewheeling task
：
The task will be handled as soon as the program running starts. The task
will be restarted automatically in the next cycle after one execution cycle ends.

The way a freewheeling task is executed
IO U ser pr ogram
Task ex ecution time 1
Freewheeli ng
task
Prior ity
H igh
Low
System
processing
I O U ser pr ogram
Tas k execution time 2
S ystem
pr oc essing
System
processing
Note: There is no fixed execution time for the freewheeling task. So the values of task execution
time 1 and task execution time 2 may not be equal in the above figure.

Task triggered by event
Event task
：
An event task is executed once just when the specified event happens. The timing
for execution of an event task depends on the timing for occurring of the event and the priority level
of the event task.

The way an event task is executed
IO U ser progr am
Task exec ution time
E ven t Task
S ystem
pr oc essing
Prior ity
Hi gh
Low
Tas k ex ecution
condition met
S ys tem
pr ocessi ng

The event tasks for option contain following few types.
- Motion event (Motion control task)
- Rising edge or falling edge of local input points (I0~I7 and I10~I17)
- CANopen SYNC signal
- Z pulse rising edge of incremental encoder 1 or encoder 2
The condition for the second-time execution is ignored when the condition required for execution of the
event task is met again before the event task is completed. The period before an event task is
completed is the course while the event task is being executed or is waiting to be executed.

Motion Event