Program Control And Multi-Tasking; Hardware Reference Manual - Omron GRT1-ML2 Hardware Reference Manual

System philosophy
2.6

Program control and multi-tasking

The Trajexia system has program, processes and multi tasking control.
2.6.1 Program control
The Trajexia system can control 14 processes that are written as BASIC
programs. When the program is set to run, the program is executed.
Processes 1 to 12 are low priority, 13 and 14 are high priority.
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 COMS.
Cycle time
fig. 27
B
A
LT HT #1 HT #2 COMS.
Cycle time
29