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Cycle time
Section 1-6
18
1-6-1-1 Servo period 0.5 ms
The
SERVO_PERIOD
has a value of 0.5ms and the motion sequence is
executed every 0.5ms.
1-6-1-2 Servo period 1 ms
The
SERVO_PERIOD
has a value of 1ms and the motion sequence is
executed every 1ms. As the motion sequence is not executed during CPU task
3, there is more time for the program execution. High priority programs run
faster.
1-6-1-3 Servo period 2 ms
The
SERVO_PERIOD
has a value of 2ms and the motion sequence is
executed every 2.0ms.
Note
Only the Sigma-III Servo Driver and the Sigma-V Servo Driver support the 0.5 ms trans-
mission cycle.
CPU task 1
Motion sequence
Low priority task (0,1,2,3...)
CPU task 2
High priority task (13,14)
CPU task 3
LED refresh
High priority task (13,14)
CPU task 4
Communication
Motion sequence
1ms
CPU task 1
Motion sequence
Low priority task (0,1,2,3...)
CPU task 2
High priority task (13,14)
CPU task 3
LED refresh
High priority task (13,14)
CPU task 4
Communication
1ms
CPU task 1
Motion sequence
Low priority task (0,1,2,3...)
CPU task 2
High priority task (13,14)
CPU task 3
LED refresh
High priority task (13,14)
CPU task 4
Communication
2ms
Summary of Contents for trajexia CJ1W-MCH72
Page 69: ...Specifications Section 2 4 58...
Page 83: ...FINS commands Section 3 4 72...
Page 147: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Page 277: ...All BASIC commands Section 4 2 266...
Page 371: ...360 Index...
Page 373: ...362...