while (! PLC_shutdown)

retrieving sensed values;

computing motion command;

if first_iter:

/* Delay transmission time at first task instance */

time2transmit = first_release_time + $\delta$ * TSK_PERIOD;

else

/* Next transmission time is determined by

sum of previous transmission time and task period */

time2transmit += TSK_PERIOD;

endif

now = get current system time;

/* Waiting for the time to transmit */

while (now < time2transmit)

now = get current system time;

endwhile

time2transmit = now;

publishing motion command;

wait until next task activation;

endwhile