Omron trajexia CJ1W-MCH72 User Manual

Cycle time Section 1-6
18
1-6-1-1 Servo period 0.5 ms
The SERVO_PERIOD has a value of 0.5ms and the motion sequence is
executed every 0.5ms.
1-6-1-2 Servo period 1 ms
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.
1-6-1-3 Servo period 2 ms
The SERVO_PERIOD has a value of 2ms and the motion sequence is
executed every 2.0ms.
Note Only the Sigma-III Servo Driver and the Sigma-V Servo Driver support the 0.5 ms trans-
mission cycle.
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
Motion sequence
1ms
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
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
2ms

Omron trajexia CJ1W-MCH72 Specifications

General

Brand	Omron
Model	trajexia CJ1W-MCH72
Category	Controller
Language	English