For the Modicon LMC058 Motion Controller:
oThe MAST task can be configured in Freewheeling or Cyclic mode. The MAST task is automatically created by default in Cyclic mode. Its preset priority is medium (15), its preset interval is 20 ms, and its task watchdog service is activated with a time of 100 ms and a sensitivity of 1. Refer to Task Priorities for more information on priority settings. Refer to System and Task Watchdogs for more information on watchdogs.
oA CANx_Sync task is created automatically when a CANopen Manager is added to the CANx (CAN0 or CAN1) interface and configured with Sync Generation enabled. This task is declared as an External Event task, and reduces the number of External Event tasks you can configure for other operations by one. By default, the CANx_Sync task is assigned a priority of 2 (or 3 if another CANx_Sync task has already been created). This is appropriate for many installations, but it is your responsibility to verify the correct task priority setting for your system. Refer to Task Priorities for more information.
oA Motion task is created automatically when a CANmotion Manager is added to the CAN1 interface. This task is declared as an External Event task, and reduces the number of External Event tasks you can configure for other operations by one. By default, the Motion task is assigned a priority of 1. This is appropriate for many installations, but it is your responsibility to verify the correct task priority setting for your motion system. Refer to Task Priorities for more information.
Designing an efficient application program is important in systems approaching the maximum number of tasks. In such an application, it can be difficult to keep the resource utilization below the system watchdog threshold. If priority reassignments alone are not sufficient to remain below the threshold, some lower priority tasks can be made to use fewer system resources if the SysTaskWaitSleep function, contained in the SysTask library, is added to those tasks.
NOTE: Do not delete or change the name of the MAST, Motion and CANx_Sync tasks. If you do so, EcoStruxure Machine Expert detects an error when you attempt to build the application, and you are not able to download it to the controller.
NOTE: Do not change the Type or External Event attributes of the Motion or CANx_Sync tasks. If you do so, EcoStruxure Machine Expert will detect an error when you attempt to build the application, and you are not able to download it to the controller.
