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34 Operation Theory

4.4 Command Dispatching in DSP

Command-dispatching task is executed by the DSP on the mod-

ule. Once the DSP receives a new command, it will process this

command within the time less than the HSL scan time. The dis-

patching task includes the motion ASIC command, data download-

ing command, point table command and script program

downloading command.

The command-dispatching task is executed every HSL scan cycle.

It is real-time. While the DSP in idling, the other tasks, such as

position compare, point table motion, script motion, special speed

profile control and data monitoring are running at lower priority

than command dispatching.

The timing block diagram as follows shows the multi-tasks working

in DSP.

Figure 4-3: DSP Multi-Tasks

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