Omron SYSMAC C500-NC113 Operation Manual page 135

9-1-3 Creating and Transferring Commands
When CPU Unit is in RUN or Monitor Mode
1, 2, 3...
CPU Unit
IR area
Wd
50 0
Use the method explained below to transfer commands such as START and
ORIGIN SEARCH to the Position Control Unit.
1. Create nine words (five words for the NC113) of command data in the CPU
Unit's DM or IR areas, beginning with 0001.
2. Use the Intelligent I/O Write instruction (WRIT) to transfer the data to the
Position Control Unit.
3. The Position Control Unit will determine that it is a command, based on the
beginning data 0001, and execute it.
Intelligent I/O
Write instruction
0 0 1
9 words
If the data for the leading address is 1000 or higher with the Intelligent I/O Write
instruction, it is recognized as a data transfer. If a command other than 0001
(Hex) is issued, with the data below 1000, a format error (error code 8309) is
generated and the Position Control Unit cannot recognize the command. (The
error can be cleared by re-issuing the command data with 0001 (Hex) at the be-
ginning.)
Basically, as shown below, first use OUT or MOV to set all of the command data,
and the use WRIT to write the data as a block.
Write the program so that commands that have been set are continually trans-
ferred to the Position Control Unit at the end of the program with every scan.
Position Control Unit (NC211)
Allocated I/O words
Command
interpreta-
tion
Section 9-1
Command
execution