Omron TJ1-DRT Hardware Reference Manual page 38

System philosophy
2.6.2 Processes
The low-priority process 0 is reserved for the "Terminal Window" of
Trajexia Tools. This terminal window is used to write direct BASIC
commands to the TJ1-MC__ independent to other programs.
These commands are executed after you press the Enter button.
2.6.3 Multi-tasking
Each cycle time is divided into 4 time slices called CPU tasks.
Processes run in the first 3 CPU tasks according to the priority of
the process.
Motion sequence and low-priority processes (A) are executed in
the Low Task (LT) period.
High priority processes (B) are executed in the high Task (HT)
periods.
External communication that are not related to the motion network
are updated in the communications (COMS) period in the fourth
CPU task.
Trajexia can control up to 14 programs at the same time.
In contrast to low priority processes, a high priority process is
always available for execution during two of the four CPU tasks.
The high-priority tasks are executed faster than the low-priority
tasks, it is that they have more time available for their execution. All
the low-priority tasks must share one slot of time and the high-
priority task have their own two slots of time.
HARDWARE REFERENCE MANUAL
fig. 26
LT HT #1 HT #2
Cycle time
fig. 27
A B
LT HT #1 HT #2
Cycle time
COMS.
COMS.
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