2-2
Section
MC Unit Control Modes
16
2-1
Axes and Tasks
The axes for operation and tasks to be performed are described below.
Motion Control
The basic objects of motion control are the axes. Axes can be controlled either in
combination or independently.
Tasks
A task is an executable unit of programming in MC programs.
Up to four tasks can be executed by the MC Unit.
Tasks must be taken into consideration when creating or teaching position data
or when executing programs.
Each task is designed to control one or more axes as illustrated by the following
example.
Example:
The following example for the CS1W-MC421 or CV500-MC421 shows two tasks
designed to control two axes each.
Task 1
Task 2
X axis
Y axis
Z axis
U axis
X axis
Y axis
Z axis
U axis
Controlled by the axis name
MC Unit
2-2
MC Unit Control Modes
The following section describes the systems and modes used to control the MC
Unit.
Tasks are controlled through the following three systems: the MC Support Soft-
ware, ladder-diagram program, and Teaching Box
The MC Unit may be processing commands from any two of these systems at
the same time.
MC Support Software
Teaching Box
Ladder-diagram program
MC Unit
Tasks 1 to 2
When the C200H-MC221
is Used
