Program System - Omron SYSMAC CS1G Operation Manual

Program and Task Configuration
No. Command Command
1 PARALLEL
2 SINGLE MULTI
3 MULTI MULTI
4 MULTI MULTI
5 MULTI SINGLE
6 JOINT JOINT
7 JWAIT
Speed of axis No.1
Speed of axis No.2
Operation-related
command
(Left branch)
Operation-related
command
(Right branch)
6-1-4

Program System

Operation Image (2):
It takes three cycles to execute one single execution command and the maxi-
mum number of simultaneous executions is set to four. The number of parallel
branches is set to two. (In this case, the number of simultaneous executions
per branch is two.)
1 2 3 4
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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.
Note (1) JOINT command is treated as a single execution command because it al-
ways waits for completion of the previous block execution.
(2) JWAIT command is treated as a single execution command because it al-
ways waits for completion of JOINT command's execution in each se-
quence.
This section explains the program of the MC Unit.
• Programs are composed of the motion task main programs and motion
task sub-programs.
Cycle
5 6 7 8 9
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Motion task main programs
(Program numbers 0-499)
Motion task sub-programs
(Program numbers 500-999)
Cycle
1 2 3 4 5 6
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Time
Time
Time
Time
Section 6-1
7 8 9
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