Lenze ETC Motion Control - Manual (Page 341)

PLC programming
Project planning
Configuring PLC tasks of the ETCxM
8
8.4
8.4.2
l
341 EDSTCXN EN 2.0
The properties of the individual tasks are configured in the "Task
configuration" of CoDeSys.
ETC103
The following points must be noted:
ƒ The greater the value for priority, the greater the task priority.
ƒ A task with an interval of "t#0s" must have a priority of no more than
10, otherwise the control will set the priority of all tasks to 0 and
reports an error (module 13, error number 202).
ƒ In addition a task with an interval of "t#0s" must have the lowest
priority of all tasks, otherwise the control will set the priority of all
tasks to 0 and reports an error (module 13, error number 201). The
tasks with a lower priority than the tasks mentioned above would then
not be executed.
ƒ If there are several tasks with an interval "t#0s", these tasks must all
have the same priority.
ƒ The interval time must be selected between "t#0ms" (constantly
running) and "t#1000ms".
ƒ When making the entry for "Event" in the task properties of CoDeSys
each task must be linked to an event variable.
ƒ The operating system of the ETCxM then allocates the 4 tasks to the
corresponding call of the CoDeSys program component linked to the
task. Each task has an event variable allocated to it.
Task number Event variable
1 PLC_PRG1
2 PLC_PRG2
3 PLC_PRG3
4 PLC_PRG4
Task properties