Synchronizing to controller cycle

RAPID Programming
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1

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?

2

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?

3

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

4

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