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
■
■
■
■
■
■
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
■
■
■
Motion task main programs
(Program numbers 0-499)
Motion task sub-programs
(Program numbers 500-999)
Cycle
1
2
3
4
5
6
■
■
■
■
■
■
■
■
Time
Time
Time
Time
Section 6-1
7
8
9
■
227
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