If the control task is started due to an event, you can see the logical address of the affected IEC task and the event that has occurred. Access via the function FC_ControlInfoGet(). Now you can respond adequately in the control task based on the information provided. Other tasks, which would otherwise overwrite information again, must to be stopped first. To this end, an individual task stop TaskStop() is made available.
General information on the external event-controlled task concept
The "external event-controlled task" concept allows high-priority, fast, synchronous, and interrupt-controlled IEC tasks.
High prioritization enables tasks with an exactly timed cycle. Interruptions or delayed start-ups by communication and the real-time process (RTP) are avoided. The RTP was shifted from VxWorks priority 1 to 32. FastTasks are placed on priorities 11 to 20.
You can define a fast task with cycle times of 250 µs, 500 µs, 750 µs. This task is triggered directly by the system cycle (250 µs).
Synchronization for the real-time process
For special requirements, you can synchronize IEC tasks with the real-time process (RTP).
The tasks of the RTP include:
oProcessing the master encoder and the logical encoder
oProcessing motion orders with reference value calculation
oProcessing the measuring inputs
oRecording the trace values
oExchanging real-time data over the real-time bus (Sercos).
The IEC tasks start with each Sercos cycle. There are various processing phases within the RTP that can be selected as start times (see the definition of the data type ET_FastTaskTrigger). It is possible to access various real-time variables depending on the start time.
Synchronization for the cam switch group
In order to provide for a reworking of the cam switch group, two additional parameters are available in the data type "ET_FastTaskTrigger": ET_FastTaskTrigger.CamSwitchGroup0, (* CamSwitchGroup0-reworking task *) ET_FastTaskTrigger.CamSwitchGroup1 := 13 (* CamSwitchGroup1-reworking task *). A reworking of the cam switch group is necessary in order to take into account additional influence factors on the setting of a cam. For example, a cam switch can only be set in the memory, an additional logical connection.
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UNINTENDED EQUIPMENT OPERATION |
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Use this function only after consultation with the Schneider Electric service representative. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
Interrupt-Controlled IEC Tasks
The controller inputs I20 to I23 can be configured as interrupt inputs. An interrupt that sends a signal to the respective, configured IEC task is triggered in the event of an edge transition. The IEC task is performed only one time. Then the IEC task waits for the next signal.
