text: <s>[INST] Motion control in Controllogix program I'm struggling to formulate what it is that I actually want to ask/know, so please bear with me! What I'm trying to get at is... what is the purpose of there being a dedicated Motion Task Is this the only place one should put programs/routines which contains motion commands? If so why? I'm looking at an application that will use a limited amount of motion control to carry out operations 'on demand' when required to do so by various parts of the process. E.g. at some point the process will require an axis to move from A to B, it will wait for that to move to complete, and then go on to the next stage (which may or may not involve some more motion control). Should I put all programs/routines which contain motion commands in the Motion Task and all others in the Main (or other) Task? That might not be a very logical way of dividing up my system. Maybe there is some doc which will help me with this? Mike [/INST] Hopefully, I have understood your question/concern. The control logix processor can multi task. You can have many tasks in the Main task area or have tasks that are periodic or event driven. All tasks in the main run at the same time. Periodic task run defined by their time setting. Event task run when a defined event happens. Each task in the main can have its priority set to different levels. There is not a task type that is defined as a Motion Task. You can organize your task to put all motion in the same task so that it is easier to locate, test, and modify. Also, the main controller has certain priority when it comes to the execution of certain instruction. The motion instructions which go to the motion planner part the processor have the highest priority. But that priority is different then the task priorities. Motion has the highest priority because of the moving items need to have attention so as to not get off track or target. Hope this helped. \\n </s>