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Plc programming – Lenze ETC Motion Control User Manual

Page 341

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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