TwinCAT3 使用入门

相当于三个不同的任务，I/O idle task是IO刷新周期，PLCTask是PLC周期，PlcAuxTask是ADS等非实时任务的周期。对于多核控制器来说把不同的任务分配到不同的核心中，可以优化cpu资源利用减少干扰。Cycle Ticks是base time时间片的倍数。

如何设置IO Idle Task 的优先级

General information
- The IO Idle task is responsible for managing acyclic communication from Master to Slaves.
What does the IO Idle task do in EtherCAT configurations?
- Implements the EtherCAT Statemachine
- Sends out the mailbox commands (CoE, SoE…)
- Initialises the Distributed Clocks
- Checks and controls the actual topology
Cycletime of the IO Idle task in a EtherCAT network
- In some special cases (when a lot of acyclic frames are communicated) the cycletime can be
changed to decrease the load of the EtherCAT network
- The cycletime should be greater or equal to 1ms and less or equal to 4ms.
Priority of IO Idle task in a EtherCAT network
- The priority should be lower (higher number) than the task which does a distributed clocks
communication.
- With Motion Control the best is to set the priority of the IO Idle task between SAF and SVB.
- With NC I it is in some cases better to place the IO Idle task behind (lower priority) the SVB task.

冯国城：多核分配的时候，不要用自动分配优先级，PLC PLC AUX IO IDLE需要在一个核心里边。

https://infosys.beckhoff.com/content/1033/tc3_system/5211863691.html?id=4991048746143903245

陈利君：https://mp.weixin.qq.com/s/S_Q2tDAujeK9tt62cxWLHQ