Configuration of the Planning Task

The movement planning of the axis group is done in a separate task which is automatically created with the name "SoftMotion_PlanningTask" when an axis group is inserted. By default, this planning task runs on the same processor core as the bus task. On multicore systems, it is advisable to locate them on a separate core. Depending on whether or not the planning task runs on its own core, it needs to be configured differently.

Single core

If the planning task runs on the same core as the bus task, then it should be configured as a freewheeling task with low real-time priority. This is the case by default. The planning task is automatically created as a freewheeling task with priority 15.

Multicore

On multicore systems, the planning task should run on a separate core with the highest priority (0). The task type should be set to cyclical and the task interval to a low value (for example, 2 ms).