Omron CS1W-MCH71 -, Operation Manual

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Basic Information
Section 6-1
6-1 Basic Information
6-1-1 Program and Task Configuration
The programs are written by the user to control the application using the MC
Unit. The tasks are units for work to execute the programs. The MC Unit can
have up to 8 motion tasks for axis control.
The motion tasks are primarily used to execute operations related to axis
movement and through declaring axes to be used by the motion program, a
motion task can have 1 to 32 axes.
Note that the same one axis cannot be shared among several motion tasks
simultaneously. To use a single axis for multiple tasks, exit the program used
for the relevant axis. After exiting the program, run the other programs to be
used by the relevant axis.
There is no need to use the motion tasks in the applications that use only the
allocation bit area of the CPU Unit to operate, i.e. applications that do not
require the motion program.
Started
Started
Motion
Program #1
Motion
Program #2
Motion
Program #3
Motion
Program #4
Motion
Program #5
Motion Task #1
Motion
Program #5
Multiple tasks cannot share
the same axis simultaneously
When a program is started,
the task keeps an axis.
Motion
Program #2
Motion Task #2
Motion Task #8
: