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102 
Create a warm start system task named “warm” 
Create a cold start system task named “cold” 
Create a blank ST POU named “Init” 
Insert program instance to Cold task 
Insert program instance to Warm task 
Create System Tasks 
Multi-Task 
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103 
Create a Default task named “BckGnd” 
500ms watchdog 
Create a blank ST program POU named “LowestPriority” 
Insert program instance in BckGnd task 
Create Default Task 
Multi-Task 
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104 
Create a cyclic task named “Slow” 
Why have another cyclic task? 
Optimize code execution 
Critical POUs in fast tasks (ex: motion & machine IO)  
Non-time-critical POUs in slow tasks (ex: user interface)  
Create Cyclic Task 
Multi-Task 
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105 
Set interval time = 200 ms 
Watchdog Time = Interval 
Priority = 7 
Slow Task Settings 
Multi-Task 
Why Priority 7? 
To leave room for higher 
priority tasks in the future 
(“medium” etc) 
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106 
Tasks are executed sequentially in order of priority 
0 = first, 15 = last 
» Software does allow entry up to 31, but don’t do it! Controller internally 
executes hidden tasks beyond priority 15.  You want your code to execute 
before these, so keep it to 15 and below 
Similar to prioritizing office work 
1.
Phone Calls 
2.
Emails 
3.
Daily Report 
4.
Weekly Report 
5.
Monthly Report 
6.
Yearly Goals 
Task Priority 
Multi-Task 
You wouldn’t work first on the yearly goal 
while refusing to answer phone calls and 
emails! 
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107 
Maximum time allowed for 
task to complete 
Use same setting as Interval 
Watchdog Time 
If the task does not complete 
in time, the PLC will stop with 
Watchdog error 
Multi-Task 
108 
What are the settings of the existing “task”? 
Right click, settings 
Change to 20 ms 
Change Task Settings 
Multi-Task 
109 
Change name to “Fast” 
Change Task Properties 
Multi-Task 
110 
Click and drag to move 
Move Program Instance 
What is the Slow task 
cycle? 
What is the Fast task 
cycle? 
Which POU can be 
executed at slower 
cycle? 
Multi-Task 
111 
Fastest possible task interval 
Set task interval as integer multiple of system tick 
MPiec System Tick = Mechatrolink network update  
System Tick 
OK to click accept 
Multi-Task 
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