Tasks are blocked, Multitasking Flow Chart

(tasks) are blocked.

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Yes

t = 0

Control Loop

Update

Message(s)		Yes	Process
Waiting?			Message(s)
	No
	No

Process

Task

End Of

Update?

Task No

Blocked?

Yes

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Figure 109: Multitasking Flow Chart

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SM-EZMotion Module User Guide

Page 90

Image 90

Emerson P/N 400361-00 manual Tasks are blocked, Multitasking Flow Chart

Contents

SM-EZMotion Module Page SM-EZMotion Module User Guide Page Website and Email Training Services 952 995-8000 or 800952 Technical Support 952 995-8033 or 800 Customer Service Sales 952 995-8000 or 800 Document Conventions General Warning Qualified PersonPage General Information Safety InformationSafety of Machinery Drive software version Viii SM-EZ Motion Module Reference Table of Contents Configuring an Application How I/O WorksSM-EZMotion Module Technical Manual How User Programs Work Starting and Stopping MotionStarting and Stopping Programs Diagnostics 117 Creating a Custom Motor File 125 Glossary 129 Index 133Xii Development Software FeaturesIntroduction SM-EZMotion Module for Unidrive SPPage Slot Selection Mechanical InstallationConnecting Motor Encoder Feedback to the Unidrive SP Electrical Connections EZ or UM Motor Simple Servo Motor Phasing Test TunEx trips SM-EZMotion Module User Guide From the Power CD Installing PowerTools ProHow PowerTools Pro is Organized From the Web File Edit Device Options Tools Ptools OperationUser Levels View Tool Bar Download View Current ErrorsUpload Send to RAM Hierarchy View View TabsStatus Bar Uploading and Downloading using PowerTools Pro Connecting the PC to the SM-EZMotion ModuleConfiguring Communications in PowerTools Pro Communications Protocol Downloading UploadingDownloading Uploading PowerTools Pro Operation Preferences Updating to RAM Download Group Upload GroupUpload Non-Volatile Memory NVM Group Secure Downloading Always bypass NVM upload SM-EZMotion Module User Guide Home to Marker JogHome How Motion Works Home to Sensor Home to Sensor then Marker Absolute Index IndexIf On Sensor Options Go Forward To Next Sensor Incremental Index Registration IndexRegistration to Sensor Rotary Plus Index Rotary Minus IndexTimed Index Gear Motion Timebase Realtime vs. Synchronized Summing Multiple Profiles RealtimeSynchronized Two Indexes Unidrive SP I/O I/O ScanSM-EZMotion Module I/O SM-I/O Plus Module I/O SM-EZMotion Module User Guide Drive/Encoder View Configuring an ApplicationDefine Hardware Slot # View SM-I/O Plus Module View SM-EZMotion Module ViewSM-Universal Encoder Plus Module View SM-Resolver Module View SM-DeviceNet Module View To the view the menu parameters, PowerTools Pro mustUnidrive SP Parameters View Applications Plus Module View Configure Setup Parameters SP Menu Initialization ViewControl Button Get Menu Values Setup View User Units View Master Units Setup View Master Distance Units Scaling Master Position Filter EnableEnable Feedforward Master Position Filter Samples Position View Velocity View Ramps View Tuning View Current View Errors View Module Power Up Time Power UpModule Power Up Count Drive Power Up Time PLS View Setup NVM View Capture View Destinations Capture Sources and DestinationsSources Sources That Can Accurately Capture Data Queues View User Variables View Queue Object User Bits View Configuring the User Bit Mask Register Writing to the User Bit Register Assignments View Configure I/OAssignments View Creating An Assignment Right Click Method Assign Button MethodDeleting An Assignment Delete Button Method Assignment Polarity SP I/O Setup View EZ Motion I/O Setup ViewSelector View Define Motion Profiles Jog ViewJog Number Jog Velocity Jog NameTime Base Jog Acceleration Home Number Switch that is activeHome View Home Reference Deceleration Limit Distance LimitDistEnableAcceleration If on sensor... Group Index View Enable Index PLS Index View with Timed Index Selected PLS Off Point Enable Registration WindowPLS On Point Example Window End Index Sources and Destinations Create User Programs Gearing ViewProgram View Program View Program Name Program Window ComponentsProgram Parameters Program Number Program Toolbar Red Dot Help Program Where Am I?Disable/Enable Error Check Drag In Operands 1.1 If/Then/EndIf Program Instruction ListProgram Flow Instructions Else Wait For Time Do While/LoopWait For Call Program Label 1.8 EndFormula GoTo Dwell For MasterDist Motion InstructionsDwell For Time Index.Initiate 2.7 Jog.PlusInitiate Home.Initiate2.6 Jog.Stop 2.8 Jog.MinusInitiate Red Dot Error Bar Motion Modifier Instructions Drag & Drop Method Program Code WindowProgram Multi-tasking Typing Method Program Blocking Index.0.Initiate Dwell For Time 0.550 sec EZOutput.2 = on Multitasking Flow Chart Tasks are blocked Starting Motion From Assignments From Programs Compound Index Example From PowerTools Pro Stopping Motion Profile.#.ProfileStop Stop All Main ToolbarStop All Program Toolbar SM-EZMotion Module User Guide Program.#.Initiate Starting ProgramsStopping Programs Program.#.Stop Again AccelType AbsolutePosnValidAccelerating AccelUnits.Decimal CaptureReset BrakeResistorAlarmCaptureEnable Capture.#.CapturedPositionCommand CurrentLimitEnable ClearFollowingErrorCommandingMotion Captured.#.CapturedMasterPosHomed DriveEnableStatus DistUnits.CharacteristicDistDistUnits.CharacteristicLength Error.Reset FeedforwardsEnable EZInput.#.ForceEnableFault.DriveOK EZInput.#.Force FollowingErrorLimit FollowingErrorFollowingErrorEnable Gear.AccelEnable Home.AnyCommandComplete Gear.DecelEnableGear.RecoveryDist Home.#.CommandComplete Home.#.Initiate Home.#.LimitDistEnableIndex.AnyCommandComplete Home.#.LimitDist Index.#.CommandInProgress Index.ResetProfileLimitedIndex.#.CommandComplete Index.ProfileLimited Index.#.Initiate Index.#.PLSEnableIndex.#.RegistrationWindowEnable Index.#.LimitDistHit Index.#.TimeBase Index.#.TimedIndexEnableJog.AnyCommandComplete Index.#.Vel Jog.#.Accel Jog.#.CommandCompleteJog.#.CommandInProgress Jog.#.Accelerating ModuleSerialNumber ModuleTemperatureMasterAxis.SpeedFeedbackSelector MotionStop PosnCommand PLS.#.PLSEnablePLS.#.RotaryRolloverEnable PLS.#.OnPosn Profile.#.CommandComplete PowerUpCountPowerUpTime Profile.#.CommandInProgress Program.#.Initiate Queue.#.QueueCompareEnableProgram.AnyComplete Queue Size Queue.#.FullLevel Queue.#.QueueExit RotaryRolloverEnableSlot1.ErrorStatus Quene.#.ExitPosition SlotX.EncoderLinesPerRev Slot2.ErrorStatusSlot3.ErrorStatus SlotX.EncoderSimulationDenominator SlotX.Input.#.In SlotX.EncoderSupplyVoltageSlotX.EncoderType SlotX.Input.#.Name SlotX.IO.#.Name SoftwareTravelLimitEnableSlotX.IO.#.In SlotX.IO.#.Out SoftwareTravelLimitPlusActive SoftwareTravelLimitMinusActiveSoftwareTravelLimitMinusPosn SoftwareTravelLimitPlusPosn SpeedFeedbackSelector SPDrive.SoftwareSubVersionSPDrive.SoftwareVersion SPInput.#.In SPIO.#.Name SPMenu.ErrorStatusSPPowerUpTimeHoursMinutes SPIO.#.Out SwitchingFrequency SPPowerUpTimeYearsDaysStackTemperature1 SPRelay.#.Name VelCommand TotalPowerUpTimeTravelLimitDisable VelocityFeedforwardEnable VelocityLoopBandwidth Time ScaleVelocityUnits.TimeScale Chart Description 112 SM-EZMotion Module User Guide Drive Parameters Used by SM-EZMotion Module 113 SM-EZMotion Module Setup Parameters Option ID CodeOption Software Version EZInput.1.Status EZOutput.1.StatusEZOutput.2.Status EZInput.2.Status Option Module Error Status Errors and Error Codes Diagnostics 117 118 SM-EZMotion Module User Guide Diagnostics 119 PowerTools Pro Analog OutputsWatch Window Watch Window Example Where Am I? Online View Tabs Clearing SLX.dF trip after installing SM-EZMotion module Clearing the SM-EZMotion module memorySaving the Drive Parameters 124 SM-EZMotion Module User Guide Revision Editing the Spmotor.ddf FileHeader Section NameCount Motor Definition Section PhaseResistancePhaseInductanceSP Motor ID ThermalTimeConstant EncoderPhaseAngleMaxOperatingSpeed Verification and Checkout 128 SM-EZMotion Module User Guide Axis ConfigurationAmplifier Baud Rate Hysteresis Global Where AmHome Routine Inertia Serial Port PowerTools ProRadio Button Travel Limit 132 SM-EZMotion Module User Guide Index Index 133 134 SM-EZMotion Module User Guide Index 135 136 SM-EZMotion Module User Guide