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.
|NanoJ application||1 ms|
|Current controller||62.5 µs (16 kHz)|
|Velocity controller||250 µs (4 kHz)|
|Position controller||1 ms|