Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 246

Program and Task Configuration
• Single Execution Command
In a motion task, two single execution commands cannot be executed si-
multaneously in one Unit Cycle. However, it is possible to execute it along
with a multiple execution command or to execute it in another branch dur-
ing parallel branch execution.
Commands related to axis movements, etc. that takes time to finish the
processing are usually of this type.
• Multiple Execution Command
In a motion task, two or more multiple execution commands can be execut-
ed simultaneously in one Unit Cycle. A command of this type can be exe-
cuted along with a single execution command or other multiple execution
commands. Commands related to operations (arithmetic, logic, etc.) are
usually of this type.
In the respective tables in this section, the word 'SINGLE' is used to indicate
the [Single execution command], and 'MULTI' to indicate the [Multiple execu-
tion command].
Refer to the 6-2-1 Command List (page 260) for the type of each command.
4. Multiple execution commands are executed under the following conditions:
• When there are no commands being executed.
• When a single execution command, which has a lower block number than
that of the multiple execution command, is being executed. (A multiple
execution command is not executed before any earlier single command
not executed yet.)
Section 6-1
223