Cycle Time - Omron TJ1-DRT Hardware Reference Manual

System philosophy
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
1
Note
The Motion sequence execution depends on setting of
the SERVO_PERIOD parameter.
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__.
HARDWARE REFERENCE MANUAL
fig. 17
250μs
1 2 3
Cycle time = 1ms
fig. 18
500μs
1 2 3
Cycle time = 2 ms
4
4
31