1131 Parameters

Execution order for ReadIO-Plc-WritIO – ghost_ReadWriteIOExecModePLC task execution orderDefault: 0Range: 0 – 20 – ReadIO – Plc 1131 – WriteIO1.ReadIO2.Plc 11313.WriteIOFunctionality notes: PLC default execution mode; PLC output evaluated at execution cycle N are updated at the end of the same cycleBest for: fastest PLC output update after evaluationDisadvantages PLC output jitter (for CAN and GDNet) and possibile jiter of Tx SYNC if Tx PDO starter by WriteIO is not completed before next Tx SYNC time elapses1 – ReadIO – WriteIO – Plc 11311.ReadIO2.WriteIO3.Plc 1131Functionality notes: PLC output evaluated at execution cycle N are updated at the start of the next N+1 cycleBest for: reduced jitter for PLC output update and Tx SYNDisadvantages: PLC output update jitter could be improved for GDNet output2 – WriteIO – ReadIO – Plc 11311.WriteIO2.ReadIO3.Plc 1131Functionality notes: PLC output evaluated at execution cycle N are updated at the start of the next N+1 cycleBest for: reduced jitter for PLC output update (minimal) ; specially good for GDNet outputDisadvantages: jitter of Tx SYNCProcess image I/O – tasks normal – cfg_ProcImgType_Task1131NormalOrder for execution of the process image (I/O) of PLC NORMAL taskDefault: 1Range: 0 – 20 – No process imageUse: the PLC manages the IO on the original variables and not on private copies.Advantages: the value of the inputs at the time of use is the most recent available; the update of the outputs is carried out in the shortest possible time after their processing.Disadvantages: the value of the inputs could change during the execution of the task; jitter on the outputs determined by the duration of the FAST task and the position in which the output is commanded in the NORMAL task.1 – Latch input – Task 1131 normal – Update output1.Latch input2.Task 1131 normal3.Update outputUse: traditional PLC; runs code 1131 of the task on private copies of the IO, preserving the value during execution; it updates the outputs processed during the cycle at the end of the cycle.Advantages: the value of the inputs doesn’t change during processing; the outputs are updated as quickly as possible after processing.Disadvantages: jitter on outputs (CAN and GDNet) determined by the duration of the FAST and NORMAL tasks.2 – Update output – Latch input – Task 1131 normal1.Update output2.Latch input3.Task 1131 normalUse: runs code 1131 of the task on private copies of the IO, preserving the value during execution; it updates the outputs processed during the cycle N at the start of the subsequent cycle.Advantages: the value of the inputs doesn’t change during processing; jitter on outputs (CAN and GDNet) determined by the FAST Task only.Disadvantages: update of outputs at the start of the subsequent cycle.Process image I/O – tasks slow – cfg_ProcImgType_Task1131SlowOrder for execution of the process image (I/O) of PLC SLOW taskDefault: 1Range: 0 – 20 – No process imageUse: the PLC manages the IO on the original variables and not on private copies.Advantages: the value of the inputs at the time of use is the most recent available; the update of the outputs is carried out in the shortest possible time after their processing.Disadvantages: the value of the inputs could change during the execution of the task; jitter on the outputs determined by the duration of the FAST and NORMAL tasks and the position in which the output is commanded in the SLOW task.1 – Latch input – Task 1131 slow – Update output1.Latch input2.Task 1131 slow3.Update outputUse: traditional PLC; runs code 1131 of the task on private copies of the IO, preserving the value during execution; it updates the outputs processed during the cycle at the end of the cycleAdvantages: the value of the inputs doesn’t change during processing; the outputs are updated as quickly as possible after processing.Disadvantages: jitter on outputs (CAN and GDNet) determined by the duration of the FAST, NORMAL and SLOW tasks.2 – Update output – Latch input – Task 1131 slow1.Update output2.Latch input3.Task 1131 slowUse: runs code 1131 of the task on private copies of the IO, preserving the value during execution; it updates the outputs processed during the cycle N at the start of the subsequent cycle.Advantages: the value of the inputs doesn’t change during processing; jitter on outputs (CAN and GDNet) determined by the duration of the FAST and NORMAL tasks only.Disadvantages: update of outputs at the start of the following cycle.