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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
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...