Omron trajexia CJ1W-MCH72 Operation Manual page 29

Cycle time
Note
1-6-1-1 Servo period 0.5 ms
1-6-1-2 Servo period 1 ms
1-6-1-3 Servo period 2 ms
18
Only the Sigma-III Servo Driver and the Sigma-V Servo Driver support the 0.5 ms trans-
mission cycle.
CPU task 1
CPU task 2
CPU task 3
CPU task 4
The SERVO_PERIOD has a value of 0.5ms and the motion sequence is
executed every 0.5ms.
CPU task 1
CPU task 2
CPU task 3
CPU task 4
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.
CPU task 1
CPU task 2
CPU task 3
CPU task 4
The SERVO_PERIOD has a value of 2ms and the motion sequence is
executed every 2.0ms.
Motion sequence
Low priority task (0,1,2,3...)
High priority task (13,14)
Motion sequence
LED refresh
High priority task (13,14)
Communication
Motion sequence
Low priority task (0,1,2,3...)
High priority task (13,14)
LED refresh
High priority task (13,14)
Communication
Motion sequence
Low priority task (0,1,2,3...)
High priority task (13,14)
LED refresh
High priority task (13,14)
Communication
Section 1-6
1ms
1ms
2ms