When using mapp Motion in a machine project certain cyclic operations are necessary to ensure proper axis command handling and data exchange.
Therefore the two tasks Svc#2.001 and Svc#2.255 will be installed in task class 1. These tasks are also recorded within Automation Studio Profiler.
mapp Motion components (such as axis components and axis group components) operate autonomously, meaning they do not depend on the user application.
To achieve this, they are executed in Svc#2.001 before the user application in task class #1, and again in Svc#2.255 after the user application in the same task class.
Each component executes its internal procedures to update current values for the application and respond to new commands as quickly as possible.
As the user application becomes larger and more complex, it may eventually reach the limits of task class #1 and cause a TC#1 cyclie time violation. Since mapp Motion runs last within this task class, any cycle time violation will occur during the mapp Motion task (Svc#2.255). It does not mean that mapp Motion is the causing factor though.
To prevent this, only time-critical application tasks that truly need to run in task class #1 should remain there.
Non-time-critical tasks should be moved to a lower task class.
Doing this will give more performance headroom within task class #1.
It is also is expected when switching to a newer version of mapp Motion that PLC load could increase a little bit. Each new version introduces additional features, which can naturally increase CPU load. B&R strives to keep this impact as minimal as possible, but in some cases, new functionality requires updates to mapp Motion’s cyclic tasks.