Task updates and signal timing for motion and IO

Version Number	Description
1.0	Initial version

This application note shows core affinities of various tasks running on the controller and gives timing details of how motion and IO commands/feedback is flow is managed.

1. Supported Components

Component Name	Version
iC9200 series	≥ 2024.3
iCube Engineer	≥ 2024.3

2. Solution Details

2.1 Core affinities

Core 0: Profinet, Slicebus

Core 1: FMK, Application tasks

Core 2: EtherCAT, OPC UA

Note: Core assignments are fixed. User programs in application tasks can only be run on Core 1 and this cannot be modified.

2.2 Task timing for motion commands over CoE

The following figure explains how a move command executed in an application task is sent over the motion network to the servo.

2.3 Task timing for motion feedback over CoE

The following figure explains how position feedback function block in an application task gets data from the servo over the motion network.

2.4 Task timing for setting output signals over EtherCAT/Slicebus

The following figure explains how how non motion output signals set in an application task are sent over EtherCAT and Slicebus.

2.5 Task timing for receiving input signals over EtherCAT/Slicebus

The following figure explains how how non motion input signals are received in an application task.