Omron CS1W-MCH71 Operation Manual page 288

Basic Information
• When system parameter P00004 (Unit function selection) bit 11 is 0
(default)
The number is specified using system parameter P00002 (Number of par-
allel 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.
• When system parameter P00004 (Unit function selection) bit 12 is 1
The number is specified using motion task parameter P00M21 (Number of
parallel branches per task). (Default: 0)
It is specified individually for each task.
An upper limit can be set for the commands executed for each task, such
as four commands for task 1 and six commands for task 2 when two tasks
are used
As shown in 1-7 Performance, the Unit cycle time depends on the number
of commands executed, so this is used when it is desirable to shorten the
Unit cycle or to speed up commands related to operations (arithmetic, log-
ic, etc.) in the same cycle.
2. The maximum number of branches when using the PARALLEL command
is determined by parameter P00002 (Number of parallel branches) de-
scribed above, or by P00M21 (Number of parallel branches per task).
The parameter sets the upper limit on the number of commands that can
be executed at one time, so this value restricts the maximum number of
parallel branches as well.
When the number of parallel branches written in a motion program is
smaller than the value in P00002, the value in P00002 is divided by the ac-
tual number of parallel branches to calculate the number of commands that
can be executed simultaneously in the branches.
If the number of parallel branches written in a motion program is greater,
the alarm [200D: Rotation specification error] will occur during execution.
3. The commands used in motion tasks can be classified into two groups:
[Single execution command] and [Multiple execution command].
• Single Execution Command
In a motion task, two single execution commands cannot be executed si-
multaneously in one Unit Cycle. Commands related to axis movements,
etc. that take time to finish the specified processing are usually of this type.
However, it is possible to execute these commands along with a multiple
execution command or to execute then in another branch during parallel
branch execution.
Example: MOVE [J01] 1000; ← Executes positioning of axis 1 to 1000.
#MW10000 = 1; ← This command is executed when axis 1
starts moving without waiting for positioning to be completed.
Use the NOPS command shown below to wait for positioning to be com-
pleted before executing the next command.
Example: MOVE [J01] 1000; ← Executes positioning of axis 1 to 1000.
NOPS; ← Waits for axis 1 positioning to be completed.
#MW10000 = 1; ← Executes this command only after axis 1 po-
sitioning has been completed.
• Multiple Execution Command
Section 6-1
243