YASKAWA iC9200 Series, Operating Manual, Page: 102 / 220

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