Omron TJ1-DRT Hardware Reference Manual page 32

System philosophy
Note
Only the Sigma-III servo-driver supports 0.5ms transmis-
sion cycle.
Example 1
The SERVO_PERIOD has a value of 0.5ms and the motion
sequence is executed every 0.5ms.
Example 2
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.
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
fig. 20
CPU task 1 Motion sequence
Low priority task (0,1,2,3...)
CPU task 2
High priority task (13,14)
CPU task 3
LED refresh
High priority task (13,14)
CPU task 4 Communication
1ms
1ms
32