Hi, What I am having a hard time following is the following. The continuous task starts 7 drives. Therefore the start sequence may be interrupted to allow a periodic task to run. The continuous task will then continue from where it left off, at whatever time it took the periodic to run (maybe 2 millisecs later). How can starting 7 drives require an uninterupted start sequence?
It is possible to schedule periodic tasks so frequently that there is no time left for the continuous task, which will also cause task overlap in the periodic.
Also note that periodic tasks can be interrupted, by comms, event tasks or motion commands so it is hard to get a continuous program execution, but you should not need it, for a motor start sequence.
Regards Alan Case