AC500 CPU: Task Configuration Basic Module

Scalable PLC AC500
AC500 CPU
Task Configuration
Basic module
ABB Group Version 3.0 (2012-04)
Technical Guides
Task Configuration
Contents
ABB Group
August 22, 2013 | Slide 2
Processing of the hardware I/Os
Task definition
Task configuration
Multitasking
Task Configuration
Coming up
ABB Group
Task definition
Task configuration
Multitasking
Task Configuration
Processing of Inputs and Outputs (1)
%IX0.0
%QX0.0
Processing (CPU)
%IX0.3
Outputs
%IX0.2
Switches
Solenoids
%IX0.1
Inputs
Push
Buttons
%QX0.1
%QX0.2
Motor Starters
Lights
%QX0.3
Horns
%IX0.4
%QX0.4
Relays
Timers
Thermal
Couples
Relays
%IX0.5
%IX0.6
%IX0.7
Optical
Relays
%IX1.0
Contacts
%IX1.1
ABB Group
LD I1
AND I2
ST O1
Engineering tool with

PLC programming software
%QX0.5
Optical Relays
%QX0.6
1234
Pulse Counters
Task Configuration
I1
Battery
O1
+
I2
P
RAM
FPROM
RAM
LD I1
AND I2
ST O1
Buffered by battery:
Retain variables
SRAMdisk
Real time clock
ABB Group
PC with
Control Builder PS501
Program execution
Task Configuration
Coming up
ABB Group
Task definition
Task configuration
Multitasking
Task Configuration
Task Definition
Internal
Operations
LD I1
AND I2
ST O1
Scan Inputs
Program
Scan
Service
Comms
Program scan
Update
Outputs
Operating
Cycle
A task is a time unit in the processing of an IEC program.

It is defined by:
A name
One or more program calls
Priority
Trigger condition (cyclic, freewheeling, triggered by event,
triggered by external event)
ABB Group
Task Configuration
Default Task
If no task configuration is specified in the project, a default task is
created automatically:
Type: cyclic
Priority: 10
Cycle time: t#10ms
Program call: PLC_PRG (main program)
Program execution time

1st cycle
ABB Group
2nd cycle
Task Configuration
I/O Hardware
Inputs
Outputs
Interrupt
Interrupt and
task done
CPU
Image
all inputs
Start of a task
Image
all outputs
End of a task
Inputs used in a task

Local variables
Global variables
%M registers
%R registers
Outputs
I/O hardware
Task
Image
I/O Bus
Onboard I/Os of AC500-eCo PM55x und PM56x
COM1: CS31 bus
FBP slave interface
Communication modules: slots 0 to 4
Instructions
Task
execution
LD I1
AND I2
ST O1
Task Configuration
Task
2nd cycle
1st cycle
O
II
O
O II
O
O
t
I
Read inputs :
The inputs used in the task are copied

byte-wise from input data image into image
(read inputs)
Write outputs:
The output values used in the task are

copied byte-wise from image to output data
image (set outputs)
ABB Group
Task Configuration
Minimal Length for an Input Signal
Program execution, Signal
OO II
O II
O I
TRUE not
recognized
ABB Group
TRUE recognized
by chance
TRUE recognized:
The input signal is longer than
the cycle time
Task Configuration
The Fast Counters
Program
execution
II
O
O
II
Input signal: Fast counter function is needed
Fast counter operating independent of the cycle time is used for input
signals up to 50 kHz resp. 300kHz.
Fast counter function is provided by:
ABB Group
Digital input modules connected via I/O bus to AC500 CPU

DC551 module in a de-central AC31 bus extension
DC541 module
CD522 module (up to 300 kHz)
O
O
II
Task Configuration
Task Types (1)
Cyclic task
Task
Task execution time

Interval
t
Interval (cycle) = const
Freewheeling task
Task
Interval
ABB Group
t
Interval const
Task Configuration
Task Types (2)
Event
Triggered by event
Event: 0 1 edge
of a global variable
Task
t
Interrupt
Triggered by external event

Event: 0 1 edge of an
interrupt channel.
A short task with high priority.
Task
t
ABB Group
Task Configuration
Cyclic Task
PID
PID
Interval 1
1st cycle
PID
Interval 2
2nd cycle
Interval 1
Interval 2
Program scan mode:

cyclic task
The task is executing the
program(s) with the priority
and interval defined in the
task configuration.
Constant execution interval

for a loop controller like PID
More information in CoDeSys Help
ABB Group
Task Configuration
Freewheeling Task
Program scan mode: freewheeling task
The task is configured as freewheeling and has no constant
scan time.
PID
PID
Interval 1
1st cycle
Interval 2
2nd cycle
Interval 1
Interval 2
ABB Group
PID
3rd cycle
No constant execution interval

for a loop controller like PID
Task Configuration
Coming up
ABB Group
Task definition
Task configuration
Multitasking
Task Configuration
Task Configuration
Program call
Type
Priority
Name of the task
2. Click Task Configuration
Cycle time
1.
Click Resources
ABB Group
Task monitoring
(recommended)
Task Configuration
Task Monitoring
Activate watchdog: Task termination in error status as soon

as the processing takes longer than defined in the Time field
Watchdog time (e.g.: t#200ms): Maximum runtime of the

task. After the expiration of this term, regarding the currently
set sensitivity the watchdog will be triggered.
Sensitivity: numbers of runtime time overruns in a row

triggering the wachdog.
ABB Group
Task Configuration
Coming up
ABB Group
Task definition
Task configuration
Multitasking
Task Configuration
Number of Tasks
ABB Group
CPU type
PM55x
PM56x
PM57x
PM58x
PM59x
Number of
tasks
2 (thereof one
interrupt)
16
Task Configuration
Task Priority
1 9:
For high priority tasks triggered by external event with

very short execution time
10 31: For regular tasks
ABB Group
Task Configuration
Multitasking
Multitasking
Several tasks are configured
The execution order of the task is defined by the priority
Tasks with higher priority interrupt those with the lower one
Example:
Start trigger condition for all 3 tasks at the same time t1
Task 1 high priority
Task 2 low priority
Task 3 lowest priority

t1
ABB Group
Task Configuration
Which Task is being processed?
For the execution, the following rules apply:
ABB Group
That task is executed, whose condition has been met; i.e.,

its specified time has expired, or after its condition (event)
variable exhibits a rising edge
If several tasks have a valid requirement, then the task with the
highest priority will be executed
If several tasks have valid conditions and equivalent priorities,

then the task that has had the longest waiting time will be
executed first
The processing of the program calls will be done according to

their order (top down) in the task editor
Task Configuration
Inputs and Outputs within an Image
Case 1: Single task
The task creates its own input and output images.
O
II
O
O
O I
Case 2: Several tasks

Each starting task creates its own image of inputs and outputs byte-wise.
Avoid overlapping of input areas!
I
O
I
ABB Group
Task 1
O
Task 2
O
Task 3
Image
Inputs
Local
variables
Global
variables
%M registers
%R registers
Outputs
Image
Inputs
Local
variables
Global
variables
%M registers
%R registers
Outputs
Task Configuration
The Task Execution
ABB Group
Task Configuration
The Task Execution: Online Indication
ABB Group
Task Configuration
Cross-References to Documentation
1. CoDeSys Help\Target System\
AC500 / S500\System Technology\System
Technology of the AC500 CPUs\Inputs, outputs
and flags in AC500
or
System start-up / program processing
2. CoDeSys Help\CoDeSys Programming System\
The Resources\Task Configuration\
ABB Group
ABB Group

AC500 CPU: Task Configuration Basic Module

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Scalable PLC AC500

Processing of the hardware I/Os

Processing of the hardware I/Os

Engineering tool with

Processing of the hardware I/Os

A task is a time unit in the processing of an IEC program.

Program execution time

Inputs used in a task

The inputs used in the task are copied

The output values used in the task are

Input signal: Fast counter function is needed

Digital input modules connected via I/O bus to AC500 CPU

Task execution time

Triggered by external event

Program scan mode:

Constant execution interval

More information in CoDeSys Help

No constant execution interval

Processing of the hardware I/Os

Activate watchdog: Task termination in error status as soon

Watchdog time (e.g.: t#200ms): Maximum runtime of the

Sensitivity: numbers of runtime time overruns in a row

More information in CoDeSys Help

Processing of the hardware I/Os

For high priority tasks triggered by external event with

10 31: For regular tasks

Several tasks are configured

The execution order of the task is defined by the priority

Task 3 lowest priority

That task is executed, whose condition has been met; i.e.,

If several tasks have valid conditions and equivalent priorities,

The processing of the program calls will be done according to

Case 2: Several tasks

More information in CoDeSys Help

More information in CoDeSys Help

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