Trio Motion Coordinator Euro 205, Technical Reference Manual

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7-12 Programming
Parameters
Trio Motion Technology
Forcing priority of program execution
When a user program is running, it is known as a 'task', or a 'process'. The
number of simultaneous processes available is dependant on the controller
type. When a program is started, the Motion Coordinator will allocate it to a
process automatically to make the system easier to use. This will normally be
sufficient for most applications, especially when there are less than 4
programs in use.
Allocation of Time
For more complex applications it can be useful to allocate execution priorities
to programs. In order to do this we need to understand how the Motion
Coordinator normally allocates the available processing time:
The default servo period is 1mS. This period is internally divided into 3 time
slots of 1/3mS each, which are used internally for processing the servo
functions, communications and general 'housekeeping' tasks respectively. The
remaining time in each of these slots is used for running the users application
programs.
Process Numbers
The processes available for programs are identified by numbers, from 1 to the
maximum available on the controller. For example, and MC216 can run 14
simultaneous programs. Process 0 is also allocated automatically to the Motion
Coordinator's command line interface / Motion Perfect connection.
Note: The maximum number of processes available is dependant on the controller
type, as shown in the table below.
1ms 1ms 1ms
Table 1:
Controller Max # Programs High Priority Tasks
MC202 3 3
Euro205 5 5,4
MC206 7 7,6
MC216 14 14,13