Omron CS1W-MC221 - 02-2008 Operation Manual page 58

Overview of G-language Programs in the MC Unit
Example 3: 2 Tasks and 4 Axes
Example 4: 1 Task and 2 Axes
Default Task
Configuration
Tasks and Blocks
Tasks and Programs
Task 1 :
X, Y, Z axis
The task configuration (axis configuration, number of tasks, and task axis
statements) is set by the unit parameters within the system parameters. (For
details, refer to 3-3 System Parameters.
Note The following table shows the factory settings for the task configuration (axis
configuration, number of tasks, and task axis statements). When using any
other task configuration, be sure to set these as the initial settings.
Item
Axis configuration
Number of tasks
Task axis statement (for task 1)
Task axis statement (for task 2)
Task axis statement (for task 3)
Task axis statement (for task 4)
MC programs are managed according to the number of tasks, so it will be
necessary to rewrite the program if the task configuration is changed after the
program has been created. For details on changing the task configuration,
refer to Section 3-2 Determining the Task Configuration.
The MC Unit is capable of storing a total of 2,000 blocks of programming. The
maximum number of blocks that can be executed in each task depends on the
number of tasks as shown in the following table. These figures include sub-
routines.
Number of tasks
1
2
3
4
Note Up to 800 blocks can be used in one program, including subroutines.
A maximum of 100 programs can be managed by the MC Unit. The number of
programs that can be managed per task depends on the number of tasks as
shown in the following table. These figures include subroutines.
Number of tasks
1
2
Task 2:
U axis
Task 1
X ,Y axis
CS1W-MC421
4 axes
1
X, Y, Z, and U axes
Not used.
Not used.
Not used.
Maximum number of
blocks (CS1W-MC421)
2,000 blocks
1,000 blocks/task
666 blocks/task
500 blocks/task
Maximum number of
programs (CS1W-MC421)
100 programs
50 programs/task
Section 1-7
Task 1: Task 2:
X, Y, Z axis U axis
CS1W-MC221
2 axes
1
X and Y axes
Not used.
Not used.
Not used.
Maximum number of
blocks (CS1W-MC221)
2,000 blocks
1,000 blocks/task
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Maximum number of
programs (CS1W-MC221)
100 programs
50 programs/task
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