Omron CS1W-MCH71 -, Operation Manual

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Basic Information
Section 6-1
In a motion task, two or more multiple execution commands can be execut-
ed simultaneously in one Unit Cycle. A command of this type can be exe-
cuted along with a single execution command or other multiple execution
commands. Commands related to operations (arithmetic, logic, etc.) are
usually of this type.
In the respective tables in this section, the word 'SINGLE' is used to indicate
the [Single execution command], and 'MULTI' to indicate the [Multiple execu-
tion command].
Refer to the 6-2-1 Command List (page 286) for the type of each command.
4. Multiple execution commands are executed under the following conditions:
• When there are no commands being executed.
• When a single execution command, which has a lower block number than
that of the multiple execution command, is being executed. (A multiple
execution command is not executed before any earlier single command
not executed yet.)
Stepping in the Stop Mode In the stop mode, the motion program advances following the 'Basic Concept'
in the previous page.
Nevertheless, in the 'Single Block Operation Mode', regardless of SINGLE/
MULTI, one block is executed at a time.
Operation image:
It takes three cycles to execute one single execution command and the maxi-
mum number of simultaneous executions is set to four. No parallel branching.
The diagram below is the operation image of the above table if 3 single execu-
tion commands are axis movement commands for Axis 1, 2, and 3 and all the
multiple execution commands are operation-related (arithmetic, logic, etc.)
commands.
No. Command Cycle Comments
1 2 3 4 5 6 7 8 9
1 SINGLE
■ ■ ■
SINGLE execution
2 SINGLE
■ ■ ■
This is SINGLE, so execution begins after command
No.1 is completed.
3 MULTI
■
This is MULTI, so it is executed along with command
No.2.
4 MULTI
■
This is MULTI, so it is executed along with command
No.2.
5 MULTI
■
This is MULTI, so it is executed along with command
No.2. (The 4th command executed simultaneously)
6 MULTI
■
This is MULTI, so it is executed along with command
No.2.
7 MULTI
■
This is MULTI, so it is executed along with command
No.2.
8 MULTI
■
This is MULTI, so it is executed along with command
No.2. (The 4th command executed simultaneously)
9 MULTI
■
10 MULTI
■
11 MULTI
■
12 SINGLE
■ ■ ■
This is SINGLE, so execution begins after command
No.2 is completed.
13 MULTI
■
This is MULTI, so it is executed along with command
No. 12.