Task Execution Format - Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual

Program and Task Configuration
Exchanging Data Between
Tasks
CPU Unit
Sequence
control
Programming Language
6-1-2

Task Execution Format

It is possible to exchange data between tasks through the global general vari-
able. Since exchanging data between motion tasks is also possible through
the global general variable, a simplified interlock can be provided.
MC Unit
IN/
OUT
IN/
OUT
Motion tasks are described with the common language.
Motion tasks are executed stepwise, and a maximum of 8 tasks can be exe-
cuted individually in parallel.
Motion tasks
MOVE [J01] 100
MOVE [J02] 200
IN/
OUT
Global general
variable
Motion task
Section 6-1
MECHATROLINK-II Device
IN/
OUT
221