Chapter 5 Program Configuration and Operation Method
5
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12
y
Process per time
Time (ms)
Process
0
Scan started and scan program P0 started to execute
0~10
Program P0 executed
10~12
P1 execution demand, P0 stopped and P1 executed
17
P2 execution demand
12~20
P1 execution completed and continues the stopped P0
20~22
P1 execution demand, P0 stopped and P1 executed
22~25
P1 execution completed and the stopped P0 execution finished
25
P2 execution demand check at the completion time of Scan Program(P0), and
P2 executed
25~30
Program P2 executed
30~32
P1 execution demand, P2 stopped and P1 executed
32~34
P1 execution completed and the stopped P2 execution finished
34
New scan starts (P0 starts to execute)
