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91 
Software Model 
Configuration 
MotionWorks IEC does not yet support an entire configuration with multiple controller resources 
IEC 61131-3 Programming 
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92 
Software Model 
Configuration 
Resource 
IEC 61131-3 Programming 
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93 
Controller “Resource” must execute code according to IEC 
standards 
Resource, Task, POU  
IEC 61131-3 Programming 
C# Image Convert: How to Convert Adobe PDF to Jpeg, Png, Bmp, &
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C# Image Convert: How to Convert Dicom Image File to Raster Images
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94 
Task Details 
Software Model 
Click and drag to  
1) change order of program execution 
2) move program to another task 
3) remove from the Task list 
The controller is the “Resource”  
Multiple tasks run at different 
update rates.  System tasks can 
be set to run once, such as at 
WarmStart 
IEC 61131-3 Programming 
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95 
Program Organization Unit (POU) 
3 types of POU 
» Program 
» Function 
» Function Block 
POU Execution 
Only Program POUs can 
run in a task.  Functions 
and Function Blocks run in 
a program. 
Logical POUs contain 
the code pages 
Physical Hardware 
shows where the 
Program POUs run 
IEC 61131-3 Programming 
VB.NET PDF Convert to Images SDK: Convert PDF to png, gif images
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Driving Value 
Multi Task 
New Task 
Task Types 
System Task, Default Task 
Cyclic Task 
Slow Task 
Task Priority 
Watchdog 
Task Properties/Settings 
98 
4 Task Types 
System, cyclic, default, event 
Up to 16 Tasks 
Yaskawa implementation 
Task Interval for Cyclic Tasks 
Lowest interval depends on PLC 
» Simulator ~ 10 ms 
» MP2000iec ~ 1 ms  
» MP3000iec ~ 0.125 ms 
Task Priority for Cyclic Tasks 
0 = highest priority (runs first) 
15 = lowest priority (runs last) 
Task Execution 
Read Inputs %I 
Program POUs 
Write outputs %Q 
Multi-Task Overview 
Multi-Task 
99 
Class Project 
Right-Click Task Folder 
Insert 
Task 
Insert New Task 
Multi-Task 
100 
Default 
Executes after all other tasks 
complete 
Cyclic 
Repeats at given “interval”.   
» Slow interval  for non-critical tasks. 
» Fast interval for machine IO and 
motion 
Priority  
» Which cyclic task is done 1st, 2nd, 
3rd, etc 
Event 
Executes 1 time when condition 
is met 
System 
Executes 1 time when the 
system reaches a given state 
» Warm Start 
» Cold Start 
Task Types 
Multi-Task 
101 
Use system tasks to execute a program POU triggered by 
specific system conditions  
Warm Start 
Cold Start 
Errors 
System Tasks 
Multi-Task 
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