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Hi, I'm a long time lurker and would like to start by saying thanks for all the help over the years, much appreciated! This is my first post, please be gentle. I'm working through a large project with an L83 (V28) including 75 EIP nodes & 5 servos. We have a need for quick real-time response of 2 cameras during a quick servo move (taking several pictures). I've broken my program up into a few event driven tasks (allowing me to chose the execution time interval (5 to 8 ms for more important tasks and 20 ms for less important tasks, etc.)), along with these I have 2 periodic tasks: 1 for my HMIs & faults running every 30ms and 1 for this quick real-time response camera situation running at .5ms which contains my camera and servo logic. Everything is running well and seems responsive and repeatable enough, but I am now adding the second half of the logic which will essentially double everything (2 up system). This has made me consider the best structure approach: Is it better to have a few larger routines within a few larger tasks or better to have more smaller tasks containing an abundance of smaller routines or some other different mix? Thanks, JD43