Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
7-4
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Motion port of the controller sends out SYNC signal and the task is triggered.
Note: The motion task is set to priority 1 by default. The priority level can be modified. However, make
sure that there is enough time for execution of the motion task within CANopen SYNC period.

SYNC cycle setting should meet following conditions.

There must be enough time for execution of the program defined in a motion task.

There must be sufficient time for PDO and SDO data exchange between the controller and
servo drive.
Insufficient SYNC period time will result in the controlled device to fail to receive SYNC signal and
unpredictable operations. Refer to section 7.3 for SYNC period setting.

Rising edge or falling edge of local input points (I0~I7
，
I10~I17)
The task is triggered when rising edge or falling edge of input point signal is detected. The response
time of input points can be set through the filter function.

CANopen bus SYNC message
The task is triggered when SYNC signal is produced at CANopen port of the controller.

Z pulse rising edge for incremental encoder 1
The task is triggered when the rising edge of Z signal of the first encoder is detected at Encoder port of
the controller.

Z pulse rising edge for incremental encoder 2
The task is triggered when the rising edge of Z signal of the second encoder is detected at Encoder port
of the controller.
7.1.2 Priority levels of Tasks
The controller can not perform multiple tasks simultaneously. Every task must be given a priority level and they
are executed according to preset priorities. Priority level can be set within the range of 1 to 24. (1 is the highest
priority and 24 is the lowest priority.) The priority level of each task must be unique. The task with higher priority
takes priority to perform. The high-priority task can interrupt the low-priority task.
We recommend that the task which has a high requirement of real time should be given a high priority and the
task which has a low requirement of real time should be given a low priority. The priority of the default motion
control task built in the CANopen Builder software is 1 by default.

The principle for multi-task execution

When the execution conditions of two tasks are met simultaneously (Cyclic task and
freewheeling task)
IO
User
program
Tim e interval between tasks
Cyclic task
( )
Priority 1
S ys tem
pr ocessing
P rior ity
High
Low
IO
User
program
Tim e inter val between tasks
Task execution
condition m et
IO
S ystem
proces sing
P ause
User
program
IO
User
program
P ause I O
User
program
Freewh eeling task
( )
Priorit y 2
Task execution
finished
Task execution
condition m et
Task execution
finished
Task execution
condition m et
Task execution
finished
Task execution
condition met
Task execution
condition m et
Task execution time Task execution time Task execution time
Task execution
finished
1 2
3
5 6
7 8 4
S ystem
proc es sing
User
pr ogr am
Sy stem
proces sing