Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 247

Program and Task Configuration
Stepping in the Stop Mode
No. Command
1
■
1 SINGLE
2 SINGLE
3 MULTI
4 MULTI
5 MULTI
6 MULTI
7 MULTI
8 MULTI
9 MULTI
10 MULTI
11 MULTI
12 SINGLE
13 MULTI
Speed of Axis No.1
Speed of Axis No.2
Speed of Axis No.3
Operation-related
commands
224
In the stop mode, the motion program advances following the 'Basic Concept'
in the previous page.
Nevertheless, in the 'Single Block Operation Mode', regardless of SINGLE/
MULTI, one block is executed at a time.
Operation image:
It takes three cycles to execute one single execution command and the maxi-
mum number of simultaneous executions is set to four. No parallel branching.
Cycle
2 3 4 5 6
■ ■
■ ■ ■
■
■
■
■
■
■
■
■
■
■
The diagram below is the operation image of the above table if 3 single execu-
tion commands are axis movement commands for Axis 1, 2, and 3 and all the
multiple execution commands are operation-related (arithmetic, logic, etc.)
commands.
7 8 9
SINGLE execution
This is SINGLE, so execution begins after command
No.1 is completed.
This is MULTI, so it is executed along with command
No.2.
This is MULTI, so it is executed along with command
No.2.
This is MULTI, so it is executed along with command
No.2. (The 4th command executed simultaneously)
This is MULTI, so it is executed along with command
No.2.
This is MULTI, so it is executed along with command
No.2.
This is MULTI, so it is executed along with command
No.2. (The 4th command executed simultaneously)
■ ■
This is SINGLE, so execution begins after command
No.2 is completed.
■
This is MULTI, so it is executed along with command
No. 12.
Time
Time
Time
Time
Section 6-1
Comments