SIMOTION Ядро

Функции

The task structure of the execution system supports PLC and motion control tasks.

The figure below shows the SIMOTION task structure.

The following execution levels are available:

• StartupTask The StartupTask is executed when a device is started up following a stop or a power up.
• BackgroundTask The BackgroundTask is used for general PLC tasks. The cycle time monitor checks the maximum execution time of the BackgroundTask. The BackgroundTask is comparable to the SIMATIC OB1.
• MotionTasks MotionTasks are provided for (motion) sequences. Command sequences in a MotionTask are normally processed in sequence, for example, the next motion command is not started until the previous command has been completed.
• SynchronousTasks These tasks are synchronized with the isochronous PROFIBUS DP. The DP syncTask and the servo syncTask are used by the system. The IPO syncTask is also available for use. These tasks can be used, for example, to set up special control tasks in which the acquisition of actual values and the output of setpoints must be synchronized.
• TimerInterruptTasks A number of time-controlled tasks are available. The call intervals are programmable. Generally, TimerInterrupt tasks are used to program periodically recurring sequences.
• InterruptTasks InterruptTasks enable a particularly rapid response to internal events. They can be triggered by system interrupts such as alarms and time-outs or user interrupts.
• ShutdownTask The ShutdownTask is called during the transition to Stop mode. It allows you to define exactly what should happen in the event of such a transition.

The following are additional features of the execution system:

• Operating modes (Run, Stop, Stop U)
• Process image for inputs and outputs, separately for BackgroundTask, SynchronousTasks and TimerInterruptTasks
• Debug functions such as:
• Control and monitoring of variables
• Program status display
• Trace functions

SIMOTION Task Structure