The maximum number of tasks you can define for the Modicon M262 Logic/Motion Controller are:
oTotal number of tasks = 16
oCyclic tasks = 8
oFreewheeling tasks = 1
oEvent tasks = 8
oExternal Event tasks = 8
Special Considerations for Freewheeling
A Freewheeling task does not have a fixed duration. In Freewheeling mode, the task scan starts when the previous scan has been completed and after a period of system processing (30% of the total duration of the Freewheeling task). If the system processing period is reduced to less than 15% for more than 3 seconds due to interruptions by other tasks, a system error is detected. For more information, refer to the System Watchdog.
NOTE: You may wish to avoid using a Freewheeling task in a multi-task application when some high priority and time-consuming tasks are running. Doing so may provoke a task Watchdog Timeout. You should not assign CANopen to a freewheeling task. CANopen should be assigned to a cyclic task.
