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30 Operation Theory
4.4 Command Dispatching in DSP
Command-dispatching task is executed by the DSP on the mod-
ule. Once the DSP receives a new command, it will process this
command within the time less than the HSL scan time. The dis-
patching task includes the motion ASIC command, data download-
ing command, point table command and script program
downloading command.
The command-dispatching task is executed every HSL scan cycle.
It is real-time. While the DSP in idling, the other tasks, such as
position compare, point table motion, script motion, special speed
profile control and data monitoring are running at lower priority
than command dispatching.
The timing block diagram as follows shows the multi-tasks working
in DSP.
Figure 4-3: DSP Multi-Tasks