Sporadic inhibit of user tasks (elimination)

Which products are affected?
EVS93xx-EI (Servo PLC, software version 2.3)
EVS93xx-ET (Servo PLC, software version 2.3)
EPL 10200 (Drive PLC, software version 6.1)

Function restriction corrected
The function block L_CanPdoTransmit (component of the library 'LenzeCanDrv.Lib') can also be used without any restrictions in case of a cyclic task (PLC_PRG level).

Which products are affected?

EVS93xx-xI (Servo PLC, Software Version 2.0 and 2.1)
EVS93xx-xT (Servo PLC, Software Version 2.0 and 2.1)
EPL-10200 (Drive PLC, Software Version 2.0 and 2.1)

What happens?
Sometimes user tasks are not processed for the duration of the system task (typically approx. 10...20 ms).

When does the problem occur?
If the function block L_CanPdoTransmit (included in the library 'LenzeCanDrv.Lib') is used in a cyclic task (PLC_PRG level), the user tasks will sometimes not be processed.

Possible diagnostics?
None.

Short-term measures?
In general, the function block L_CanPdoTransmit should only be used in user tasks, not cyclic tasks. If function block L_CanPdoTransmit must be carried out in the cyclic task, the following settings are required:

C2102 = 2: The changeover between system task and cyclic task is carried out at the respective cycle end)
and C2100 = 26: Changeover between system task und cyclic task after max. 26 ms
and maximum PLC_PRG program runtime < 24 ms (see task monitor)
and maximum system task runtime < 24 ms (see task monitor)

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/200408620/1/