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Cycle time
Section 1-6
17
1-6
Cycle time
All processes in the Trajexia system are based on the cycle time. The cycle
time is divided into four CPU tasks:
• 250
µ
s time intervals for a
SERVO_PERIOD
of 0.5 and 1.0 ms
• 500
µ
s time intervals for a
SERVO_PERIOD
of 2.0 ms
• 1 ms time intervals for a
SERVO_PERIOD
of 4.0 ms
The processes that can be carried out in each time interval depends on the
SERVO_PERIOD
that is set.
The operations executed in each CPU task are:
1-6-1
Servo period
The
SERVO_PERIOD
can be set at 0.5, 1, 2 or 4 ms. The processes that take
place within the cycle time depend on the setting of the
SERVO_PERIOD
parameter. The
SERVO_PERIOD
parameter is a Trajexia parameter that must
be set according to the system configuration.
The factory setting is 1ms (
SERVO_PERIOD=1000
). A change is set only
after a restart of the CJ1W-MCH72.
CPU task
Operation
First CPU task
Motion Sequence
Low priority process
Second CPU task
High priority process
Third CPU task
Motion Sequence (only if
SERVO_PERIOD
=0.5ms)
LED Update.
High priority process
Fourth CPU task
External Communications
Cycle time = 1ms
250
µ
s
1
2
3
4
Cycle time = 2 ms
500
µ
s
1
2
3
4
Cycle time = 4 ms
1 ms
1
2
3
4
Note
The Motion sequence execution depends on setting of the
SERVO_PERIOD
parame-
ter.
Содержание trajexia CJ1W-MCH72
Страница 69: ...Specifications Section 2 4 58...
Страница 83: ...FINS commands Section 3 4 72...
Страница 147: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Страница 277: ...All BASIC commands Section 4 2 266...
Страница 278: ...267 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
Страница 371: ...360 Index...
Страница 373: ...362...