Omron CS1W-MC221 -, Operation Manual

Page: 403 / 705

376
Programs and Tasks Section 7-1
7-1 Programs and Tasks
7-1-1 Overview
The CS1W-MC421 MC Unit can execute up to four tasks (tasks 1 to 4), and
the CS1W-MC221 can execute one or two (tasks 1 to 2). (A task is a unit of
execution for a program.)
By executing two or four tasks at the same time, the MC Unit can perform the
same functions as two or four controllers.
The number of tasks and axes to be used are set in advance using CX-Motion
for the unit parameters.
Number of Tasks and Axes
The X and Y axes can be used with the CS1W-MC221, and the X, Y, Z, and U
axes can be used with the CS1W-MC421. Each axis can be used for only one
task, i.e., any axis assigned to one task cannot be used in another task.
Example: 4 Tasks and 4 Axes
Example 2: 2 Tasks and 3 Axes
Example 3: 2 Tasks and 4 Axes
Example 4: 1 Task and 2 Axes
Tasks and Blocks
The MC Unit is capable of storing a total of 2,000 blocks of program. The max-
imum number of blocks that can be executed in each task depends on the
number of tasks as shown in the following table. These figures include sub-
routines.
Note A maximum of 800 blocks can be used in one program, including subroutines.
Task 1 :
X axis Task 2:
Y axis Task 3 :
Z axis Task 4:
U axis
Task 1 :
X, Y axis Task 2:
Z axis Task 1:
Y, Z axis Task 2:
Y, U axis
Task 1 :
X, Y, Z axis Task 2:
U axis Task 1:
X, Y, Z axis
Task 2:
X, Y, U
axis
Task 1
X ,Y axis
Number of tasks Maximum number of
blocks (CS1W-MC421)
Maximum number of
blocks (CS1W-MC221)
1 2,000 blocks 2,000 blocks
2 1,000 blocks/task 1,000 blocks/task
3 666 blocks/task ---
4 500 blocks/task ---