Jump to content
OMRON Forums

Why RTI task time in Power PMAC is higher than Turbo PMAC?


Sina.Sattari
 Share

Recommended Posts

We have been getting this question that "Why RTI task time in Power PMAC is higher than Turbo PMAC?".

 

One explanation is that the number of tasks that are done in Power PMAC RTI compared with Turbo PMAC are a lot more. This provides much more deterministic results, more accurate responses and safer in some instances on the upside. The downside is that the RTI time would be stretched longer, mostly by I/O reads.

 

Here is a comparison between the tasks running in Turbo PMAC RTI versus Power PMAC RTI:

 

Turbo PMAC RTI:

- Updating watchdog timer

- One display character update on DISPLAY port

- Calculate motion program if necessary

- PLC0 if enabled

- PLCC0 if enabled

 

Power PMAC RTI:

- Updating watchdog timer

- Updating motor logic for activated motors

- Motor brake control if enabled for activated motors

- Motor I2T calculations if set for activated motors

- Motor over-travel limits if enabled for activated motors

- Motor amplifier faults if enabled for activated motors

- Motor encoder loss check if enabled for activated motors

- Motor amplifier enable/disable logic for activated motors

- Motor backlash compensation calculations if enabled for activated motors

- Motor trigger moves if activated for enabled motors

- Motor software capture if activated for enabled motors

- Motor phase search algorithms if activated for enabled motors

- Motor absolute position read (Macro or non-MACRO) if activated in enabled motors

- Coordinate system status bits update for all coordinate systems

- Updating all status bits

- Execution of RtiCPLC if enabled

- Executing real-time script PLCs (PLC[0] to possibly PLC[3]) if enabled

Link to comment
Share on other sites

  • Replies 0
  • Created
  • Last Reply

Top Posters In This Topic

Popular Days

Top Posters In This Topic

Guest
This topic is now closed to further replies.
 Share


×
×
  • Create New...