Cycle Time - Omron TJ1/GRT1 Hardware Reference Manual

System philosophy
initial task. The values are exchanged from the configured global variables in
a transparent way. When the Trajexia is a communications master, the
BASIC communication commands are used to write and read.
2.4.5 Peripherals
All inputs and outputs are used with the set of parameters (IN, OP, AIN,
AOUT). The inputs and outputs are automatically detected and mapped in
Trajexia. Inverters are considered a peripheral device and have a set of
BASIC commands to control them. Various MECHATROLINK-II input and
output modules can be connected to a TJ1-ML__ unit.
2.5

Cycle time

All processes in the Trajexia system are based on the cycle time. The cycle
time is divided into four CPU tasks:
• 250µs time intervals for a SERVO_PERIOD of 0.5 and 1.0ms
• 500µs time intervals for a SERVO_PERIOD of 2.0ms
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:
CPU task Operation
First CPU task Motion Sequence
Low priority process
Second CPU task High priority process
1
Third CPU task Motion Sequence (only if SERVO_PERIOD=0.5ms)
LED Update.
High priority process
Fourth CPU task External Communications
Note
The Motion sequence execution depends on setting of the
SERVO_PERIOD parameter.
HARDWARE REFERENCE MANUAL
fig. 17
250µs
1 2 3
Cycle time = 1ms
fig. 18
500 µs
1 2 3
Cycle time = 2 ms
4
4
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