PD4-C CANopen Online Manual

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 62.5 µs (16 kHz)
Velocity controller 250 µs (4 kHz)
Position controller 1 ms
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