Synchronizing to controller cycle

mkatliar

Dear colleagues,
I want some code to be executed on each controller cycle. This is what I have in mind:

MODULE SomeModule
    PROC MyProc()
        WHILE TRUE DO
            ! do something important
            DoSomething;

            ! here I want to wait until the next controller cycle, how can I do that?
            WaitUntilNextControllerCycle;
        ENDWHILE
    ENDPROC
ENDMODULE

The thing is that I can't find a way in RAPID to wait for the next controller cycle; does it exist?
I could use WaitTime, but then a) it is not synchronized to the controller cycle; b) the time of the WHILE cycle will be equal to the wait interval + the execution time of DoSomething, but I want DoSomething to be executed at regular intervals.

What would you suggest?

VictorAx

I don't really understand your question, do you want this to be used as a continiously running proc while the robot is doing something else?

If so, is this meant a second task?

mkatliar

VictorAx said:

I don't really understand your question, do you want this to be used as a continiously running proc while the robot is doing something else?

If so, is this meant a second task?

Yes you are correct -- this is supposed to be run in a separate "monitoring" task. The second task is the motion task.

VictorAx

Then you could do something like this;

PROC main()

    Set StartMonitor; !StartMonitor is configured as a digital output

    WaitUntil StartMonitor = 0;

    DoSomething;

ENDPROC

PROC Monitor();

    WaitUntil StartMonitor = 1;

    Reset StartMonitor;

    DoSomethingElse;

ENDPROC