Lenze E94AxPExxxx - Manual (Page 43)

Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
43
4 PLC functionality
4.2 Preparations for creating a PLC program
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4.2.4 Configuring tasks
In the Resources tab in the Task configuration object, the task features of the four tasks described in
the section Standard project "PLC_Application.pro" ( 40) can be checked.
Please make sure that the interval times of the cyclic tasks are limited to the permissible or optional
values.

Tip!
When the checkbox Update unused I/Os (tab Resources  Object Target system settings 
tab General) is active, a system task with priority 9 is created.
If you have created your own task with priority 9, this will cause the translation error 3570
(error message: "The tasks 'InputUpdateTask' and 'IdleTask' have the same priority 9").
4.2.4.1 Inserting other user tasks
As described in section Standard project "PLC_Application.pro" , the Application, User, Visu and Idle
Task exist after creating a new project.
In order to create other user tasks, mark a task and then select the menu command InsertInsert
task.
Task Priority Type Interval time and watchdog time Sensitivity
Application task 1 cyclic T = 1 ms
optional: 2 ms, 4 ms or 8 ms,
recommended: 1 ms or 2 ms
1
User task 2 cyclic T = 2 ms
optional: 2 ms, 4 ms or 8 ms *)
1
Visu task 7 cyclic Interval time T = 8 ms,
optional also larger
1
Idle task 8 free-running
*) The value of interval times of cyclic tasks must always be selected as the power of two (e.g. 2 4 = 16 ms).