Omron CS1W-MCH71 Operation Manual page 291

Basic Information
Speed of Axis No.1
Speed of Axis No.2
Speed of Axis No.3
Speed of Axis No.4
Operation-related
commands
Stepping When Parallel
Branch is executed
No. Command Com-
mand
1 PARALLEL
2 SINGLE MULTI
3 MULTI MULTI
4 MULTI MULTI
5 MULTI SINGLE
6 JOINT JOINT
7 JWAIT
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When parallel branch is executed, the branched program steps per sequence.
The execution of commands within the same scan is restricted by system
parameters just as it is in the Stop Mode. When the number of parallel
branches written in the motion program is smaller than the maximum number
of simultaneous executions, the number of commands that can be executed
simultaneously in a sequence can be obtained by dividing the maximum num-
ber of simultaneous executions by the number of parallel branches (the
remainder to be omitted).
In the 'Single Block Operation Mode', regardless of SINGLE/MULTI, one block
is executed at a time.
Operation image 1:
It takes three cycles to execute one single execution command and the maxi-
mum number of simultaneous executions is set to two. The number of parallel
Branches is set to two. (In this case, the number of simultaneous executions
per branch is one.)
Cycle
1 2 3 4 5
■
■ ■ ■
■
■
The following diagram can be applicable as for an operation image if the sin-
gle execution commands moving axes 1 and 2 while the multiple execution
commands perform calculations.
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.
6 7 8 9 1 2
■
■
■
■
■
Section 6-1
Time
Time
Time
Time
Time
Cycle
3 4 5 6 7
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■
■ ■ ■
■
8 9
■