Extended Servo Update Period timing

[steveneads]

How does the scheduling work if some motors have an extended servo update period (using Motor[x].Stime)?

 

For instance, if I have several motors which are closing their loops on alternate servo-cycles, are they all closed on the same servo-cycle as each other or can they be scheduled to do their calculations on different cycles to each other, or does it depend upon the timing of loop closure?

 

Thanks

Steve

[steve.milici]

Motors with the same Stime are closed in the same cycle.