Omron CS1W-MC221 -, Operation Manual

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Determining the Task Configuration Section 3-2
Position Data
• Write a position data transfer command to the position data write address
in the command area using the IOWR instruction to transfer position data
indirectly to the MC Unit.
• Change position data directly using IOWR instructions.
• Use a Teaching Box or CX-Motion to create and write position data.
Monitor Data
Read monitor data with IORD instructions from a ladder program while the
CPU Unit is running.
Command Area
Execute functions with the IOWR instruction as needed for the following.
• Writing position data or system parameters to flash memory
• Automatically downloading MC programs and position data to the MC Unit
from an external memory device on a personal computer while CX-Motion
is running
• Setting the present position
• Setting the teaching address for a task
• Setting the override function selection (See note.)
Note Applicable only with Unit Ver. 1.15 or later, and with Units whose
model number ends in -V1.
3-2 Determining the Task Configuration
The tasks must be configured when an MC Unit is first used. Set the configu-
ration in the unit parameters under the system parameters. (Refer to
Section
3-3 System Parameters. ) The MC programs must be changed if the task con-
figuration is changed after a system has already been built with a certain task
configuration.
3-2-1 Task Configuration
A maximum of 4 tasks can be set with the CS1W-MC421. A task is a unit that
is used to execute a program.
If four tasks are executed simultaneously, the MC Unit will function like four
controllers capable of controlling the X, Y, Z and U axes. The same axis can-
not be set for more than one task.
With a CS1W-MC221, a maximum of two tasks can be set, enabling X and Y
axes control only.
Example 1: Four Tasks, Four Axes
Task 1
X axis Task 2
Y axis Task 3
Z axis Task 4
U axis
Example 2: Two Tasks, Three Axes
Task 1
X, Y axes Task 2
Z axis
Task 1
Y, Z axes Task 2
Y, U axes