National Instruments NI-Motion - Manual (Page 211)

Chapter 14 Onboard Programs
© National Instruments Corporation 14-3 NI-Motion User Manual
Figure 14-1. Onboard Program Priority
Note If you continuously poll data from the host, the onboard program gets preempted and
has less time to run. To keep this from happening, insert a small delay in the polling loops
on the host. Refer to the
Timing Loops section of Chapter 4, What You Need to Know about
Moves , for information about programming delays in the loops.
Writing Onboard Programs
Note This section and the sections that follow it apply only to the NI 73xx motion
controllers.
Almost all NI-Motion functions that execute on the host can run onboard.
You can store up to 32 onboard programs on the motion controller. These
onboard programs remain on the motion controller until you reset it. If you
want the onboard programs to persist through a reset of the motion
controller, save them to FLASH, as shown in Figure 14-2.
I/O reaction
Host communications
pre-emptive tasks
2 ms time-sliced tasks