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--- eeros_architecture:control_system:executor [2021/02/10 11:58] – ursgraf
+++ eeros_architecture:control_system:executor [2021/02/10 15:28] (current) – [Using the Executor] ursgraf
@@ Line 8: / Line 8: @@
 In this example we have the safety system as the main task. It has the fastest execution period together with the time domain 1. The time domain 2 runs with the same period but only after time domain 1 has finished. Time domain 3 has a harmonic relationship to the main task with a ratio of 2.
-===== Initialize the Executor ======
+===== Using the Executor  ======
 First you have to define the executor.
 <code cpp>
@@ Line 14: / Line 14: @@
 </code>
-Next we have to define the main task. In general the main task will be the safety system. To make matters simple we omit the definition of the safety system. Please check for this in [[getting_started:tutorials:safetysystem|]].
+Next we have to define the main task. In general the main task will be the safety system.
 <code cpp>
   SafetySystem ss(properties, 0.001); // runs every millisecond
@@ Line 54: / Line 54: @@
   executor.add(per1);
 </code>
+Time domain 3 runs concurrently to time domain 1. It can therefore be created simply with
+<code cpp>
+  eeros::control::TimeDomain td3("td3", 0.002, true);
+  executor.add(td3);
+</code>