Could anyone teach me about TASK,INTERVAL and PRIORITY ?

In MatPLC manual.
IEC CONFIGURATION

    CONFIGURATION config1
      VAR_GLOBAL
        varint : INT := 99;
        varreal : REAL := 99.9;
      END_VAR
      TASK t1(INTERVAL := t#20ms, PRIORITY := 2);
      PROGRAM foo WITH t1: PROG1(param1 := varint, param2 :=
varreal);
    END_CONFIGURATION


INTERVAL is like scanperiod in matplc.conf ?
Which has priority over other ?

What is PRIORITY ?

   Ikeya


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