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Basic Information
Section 6-1
The Unit Cycle is either the same or twice the MECHATROLINK-II (MLK)
communications cycle.
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
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
Summary of Contents for CS1W-MCH71 -
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Page 69: ...24 Performance Section 1 7 ...
Page 99: ...54 Connecting MECHATROLINK Devices Section 3 5 ...
Page 283: ...238 Saving Data Section 5 4 ...
Page 417: ...372 Command Details Section 6 3 ...