41
Id.-Nr.: 1556.212.1-07
Program development
11
Program development
The control operates based on the following principle: "Read inputs, processing, write
outputs". The MotionOne 3 carries out the following tasks during the processing of
each task defined with MotionCenter:
•
At the beginning of the cycle, the current statuses of the inputs are read and writ-
ten into the process map of the inputs.
•
Processing:
The application program is executed. The set states of the outputs are copied
into the process map.
•
Write outputs:
At the end of the cycle, the set states of the outputs saved in the process map
are transmitted to the physical outputs.
Furthermore it is possible to create several applications in parallel or nested and to
start them on the control. A variable exchange between the applications is possible.
For each application a symbol configuration can be created.
Details about the programming can be found in the online help of MotionCenter.
Information
For custom application the TCP/IP and UDP port range 10000 - 20000 is
available.
11.1
Task priorities
IEC process priorities for a task can be assigned. By default priority 10 is configured
for a task.
The individual priorities are described in the following table.
Priority
Description
0 - 4
Tasks of this priority are reserved for the robotic system add-on
5 - 10
Used for high prior real time tasks (default priority 10)
11 - 15
Used for low prior real time tasks, can be replaced at high workload
16 - 31
Used for tasks which are not in the real time context
11.2
Fast control
Fast control is used to reduce the system reaction time. This means reading the in-
puts, processing the data and writing the outputs need less cycles.
Fig. 11.19:
Timing Diagram
The configuration of the fast control happens in the MotionCenter LX (see online help
"Configure EtherCAT slave").
