# Scheduling in the controller (P-STUP-00134)

P-STUP-00134 | Scheduling in the controller
Description | This parameter controls CNC scheduling. A distinction is made between 2 methods: Method 1: Control runs in the CNC for at least one axis. Scheduling executes the following sequence: - Read actual values - Calculate position lags

- Write velocity command values

Method 2:

All axes are position-controlled. Scheduling automatically executes the following changed sequence:

- Read actual values

- Write position command values

- Calculate position for next cycle

Parameter | scheduling_position_controller
Data type | STRING
Data range | DEFAULT: Depending on axis control, the CNC decides on which scheduling mode is selected (mode 1 or 2). OPT_CNC_POS_CONTROL: Control in CNC; scheduling acc. to mode 1. OPT_DRIVE_POS_CONTROL: Control in the drives; scheduling acc. to mode 2
Dimension | ----
Default value | DEFAULT
Remarks |