Omron CS1W-MCH71 -, Operation Manual

Page: 287 / 717

242
Basic Information
Section 6-1
The Unit Cycle is either the same or twice the MECHATROLINK-II (MLK)
communications cycle.
For details, refer to 1-7 Performance on page 21.
All running motion tasks are executed in task number order in each Unit
Cycle. The number of commands that can be executed in each Unit Cycle
depends on the number of parallel branches and the type of command (single
execution or multiple execution). For details, refer to
6-1-3 Advancement of
the Motion Program on page 242.
6-1-3 Advancement of the Motion Program
This section describes how execution of respective blocks advances (stepping
or steps for processing). Each program is executed by a motion task sepa-
rately, so the stepping of respective blocks can be considered independent as
well.
Basic Concept
1,2,3... 1. The maximum number of motion commands that can be executed in a mo-
tion task in one Unit cycle (1, 2, 3, 4, 6, or 8 ms) can be specified in MC
Units.
The maximum number of commands is specified using the following pa-
rameters.
Unit Versions Earlier Than 3.0:
System parameter P00002 (Number of parallel branches) (Default: 4)
With the default, a maximum of four commands can be executed in a single
motion task.
When two tasks are used, a maximum of eight commands (2 tasks x 4
commands = 8) can be executed in a single Unit cycle.
Unit version 3.0 or later:
Communications
cycle (ms)
Unit Cycle (ms)
1 1 or 2
2 2 or 4
3 3 or 6
4 4 or 8
Motion task #1
Motion task #2
Motion task #3
Motion task #4
The Unit Cycle
= Integral multiple of
MLK Communications
cycle
Motion task #1
Motion task #2
Motion task #3
Motion task #4