Setting the cycle time

To prevent overloading of the MOVI-C® CONTROLLER (which can be recognized, for example, by noise development on the axes), check the task configuration to ensure that the cycle time of the HighPrio task is not exceeded during operation. If necessary, it is recommended for the cycle time set on the axes and on the MOVI-C® CONTROLLER (set to 1 ms by default) to be increased according to the application (number of axes, software modules/visualizations used).

The following steps must be taken to set the cycle time. The change only takes effect after the IEC program and the configuration data have been updated.

Setting the TaskHighPrio cycle time for the MOVI-C® CONTROLLER

In MOVISUITE®, perform the following steps for the MOVI-C® CONTROLLER:

  1. Open the configuration of the MOVI-C® CONTROLLER.
  2. In the "MOVIRUN® flexible" section, open the "Controller functions" > "Task system" configuration menu.
  3. Under "Task system", enter the required value in the "Cycle time of the HighPrio Task" edit box. The value must be an integer and identical to the "Controller setpoint cycle" value (see below).
  4. Click the blue arrow in the "Task system" section of the "Sync offset EtherCAT" edit box to apply the suggested value.
Setting the "Controller setpoint cycle" on the axes

In MOVISUITE®, perform the following steps for all axes that are subordinate to the MOVI-C® CONTROLLER:

  1. Open the configuration for the axis.
  2. In the "Functions" section, open the "Setpoints" configuration menu and its submenu "Basic settings".
  3. In the "Basic settings" section, set the value in the "Controller setpoint cycle" edit box to the required value. The value must be an integer and identical to the "Cycle time of the HighPrio Task" value (see above).
  4. In the section of the software module of the axis, open the "Drive functions" configuration menu and then the "FCB 10 Interpolated position control" submenu.
  5. In the "FCB 10 Interpolated position control" section, set an integer multiple (factor 5) of the cycle time in the "Mean value filter time" edit box.