There are 3 types of servo tasks: sync, async and background tasks. All time-critical servo tasks, such as position compensation, must be set as synchronous tasks. The sync tasks must complete within a servo tick (125 microsecond duration). Other tasks, such as status checking or non time-critical tasks, are set as asynchronous tasks. These tasks may be pre-empted by the RTOS. For slow executing tasks, such as duty cycle calculation, these are classified as background tasks. And will get spooled with the rest of the system tasks.

Tasks of similar execution requirements are strung into a single task queue.