The multi-task system
Operating Manual ProNumeric XCI 600 Version 07/16
73
9.5
Task priorities
The table gives an overview of recommended task priorities and their
relationship to important reserved firmware tasks (
tfwLAGE, tfwCANhigh,
tfwIPO
).
Warning!
Incorrectly or inappropriately selected user task settings for type,
priority, interrupt mode, etc.
– especially in conjunction with longer
program runtimes
– can lead to controller malfunction when essential
firmware tasks are displaced (
tfwLAGE, tfwCANhigh, tfwIPO
).
Check and adapt the task assignment and task time setting
MULTIPROG priority
RTOS*
priority
(defau
lt)
RTOS *
Task name
Application
0
30
Any
e.g. User task (event 0)
1
31
Any
e.g. User task (event 1)
2
32
Any
e.g. User task (event 4)
3
33
tfwLAGE
Reserved for position controller task (XCN only)
4
34
Any
e.g. User task (event 5)
5
35
tfwCANhigh
Reserved for CANopen task
6
36
Any
e.g. User task (event 5, 6)
7
37
tfwIPO
Reserved for IPO task (XCN only)
8..15
38..45
Any
E.g. cyclical user tasks
16..31
46
Any
E.g. other cyclical user tasks
Default
127
default
Background task
Real-time Operating System
Table 14: Multi-task system, Task priorities
Note
The system supports 18 user tasks (priority levels 0..16 and the default
task).
