Omron CS1W-MCH71 -, Operation Manual

Page: 292 / 717

247
Basic Information
Section 6-1
Operation Image (2):
It takes three cycles to execute one single execution command and the maxi-
mum number of simultaneous executions is set to four. The number of parallel
branches is set to two. (In this case, the number of simultaneous executions
per branch is two.)
The diagram below is the operation image of the above table if 2 single execu-
tion commands are axis movement commands for Axis 1 and 2 and all the
multiple execution commands are operation-related (arithmetic, logic, etc.)
commands.
Note (1) JOINT command is treated as a single execution command because it al-
ways waits for completion of the previous block execution.
(2) JWAIT command is treated as a single execution command because it al-
ways waits for completion of JOINT command's execution in each se-
quence.
Speed of axis No.1
Time
Time
Time
Time
Speed of axis No.2
Operation-related
command
(Left branch)
Operation-related
command
(Right branch)
No. Command Command Cycle Cycle
1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9
1 PARALLEL
■ ■
2 SINGLE MULTI
■ ■ ■ ■
3 MULTI MULTI
■ ■
4 MULTI MULTI
■ ■
5 MULTI SINGLE
■ ■ ■ ■
6 JOINT JOINT
■ ■
7 JWAIT
■ ■
Speed of axis No.1
Operation-related
command
(Left branch)
Operation-related
command
(Right branch)
Speed of axis No.2
Time
Time
Time
Time