Cycle times
The controller operates with a cycle time of 1 ms. This means that data are processed every 1 ms; multiple changes to a value (e.g., value of an object or level at a digital input) within one ms cannot be detected.
The following table includes an overview of the cycle times of the various processes.
Task | Cycle time |
---|---|
Application | 1 ms |
NanoJ application | 1 ms |
Current controller | 50 µs (20 KHz) |
Velocity controller | 250 µs (4 kHz) |
Position controller | 1 ms |