How to get the core real time scan tick signal?

[KangZhihao]

Because I have a thread program which includes a long while loop, it will take about 10~20ms to finish.So this program can not run in 2ms real time scheduler,it won't finish in time.

But in this loop, there are servel motion buffer commands that I want to send in the same motion cycle. If these buffer commands are not sent in the same cycle, the continuous motion movement might not achieve.So I want to get the motion cycle start tick signal quickly in the thread program, so that thread program can send the motion buffer commands at the beginning of the motion cycle.

I don't know if there is a start tick signal in the SDK just like below:

[nickH · Accepted solution]

In general, if you want to trigger something before the motion callable is called you best is to write an callable and place it in front of the motion callable in the same task in the scheduler configuration.  

Additionally you can see a counter which gets increased when a task is called and the start time of this call as RT-data in the Data Layer at "scheduler/tasks/<task_name>/info/common-data-rt". 

[CodeShepherd]

For synchronizing motion commands please also see the corresponding feature in the ctrlX MOTION documentation .