Lenze E94A - Manual (Page 34)

2 Introduction
2.8 Multitasking in the Servo Drive 9400
34
Lenze · 9400 function library · Reference manual · DMS 6.7 EN · 08/2014 · TD05
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Example of runtime measurement
In the following example, the ApplicationTask is called in a 1 ms interval. The ApplicationTask inter-
rupts the UserTask which is called in a 4 ms interval. Both tasks, in turn, interrupt the IdleTask. The
interruptions cause a runtime extension both in the UserTask and in the IdleTask. This means that
already a small runtime extension has a significant effect on the runtime of the other two tasks!
[2-10] Example: Runtimes of the different tasks
 System task
 Application task (here: Task interval = 1 ms)
 User task (here: Task interval = 4 ms)
 Idling idle task
T1 = runtime of the application task
T2 = runtime of the user task
T3 = runtime of the idle task
0 1 ms 4 ms
T1
T2 T2
T1 T1 T1 T1 T1
T3
1
0
2
3