Omron GRT1-ML2 Hardware Reference Manual page 29

System philosophy
2.5.1 Servo period
The SERVO_PERIOD can be set at 0.5, 1 or 2ms. 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 TJ1-MC__.
Note
Only the Sigma-III Servo Driver and the Sigma-V Servo Driver
support the 0.5 ms transmission cycle.
Example 1
The SERVO_PERIOD has a value of 0.5ms and the motion sequence is
executed every 0.5ms.
HARDWARE REFERENCE MANUAL
fig. 19
CPU task 1 Motion sequence
Low priority task (0,1,2,3...)
CPU task 2
High priority task (13,14)
CPU task 3
Motion sequence
LED refresh
High priority task (13,14)
CPU task 4 Communication
1ms
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