Omron SYSMAC C500-NC113 Operation Manual page 94

6-1 Creating and Transferring Commands
When the CPU Unit is in RUN or Monitor Mode
1, 2, 3...
CPU Unit
IR area
Wd
When the CPU Unit is in Program Mode
1, 2, 3...
CPU Unit
Allocated output words
This section explains how to give commands such as START, ORIGIN
SEARCH, and so on, to the Position Control Unit.
1. Create nine words (five words for the NC113) of command data, beginning
with 0001, in the CPU Unit's DM and IR areas.
2. Use the Intelligent I/O Write instruction to transfer the command data to the
Position Control Unit.
3. The Position Control Unit interprets the command and executes it.
Intelligent I/O
Write instruction
9 words
Note When the CPU Unit is in either Run or Monitor Mode, bit 03 of the allocated I/O
word must be turned ON by the program. When bit 03 is OFF, commands cannot
be received by means of WRIT (the Intelligent I/O Write instruction).
Ladder Program Example
If bit 03 is turned ON by a forced set when the CPU Unit is in Program Mode, the
Position Control Unit will stop all operations in Program Mode.
Bits 00 to 02, 09, and 15 are used by the system program, therefore do not use
these bits.
1. Operate (i.e., turn ON and OFF) the bits in the CPU Unit's allocated output
words.
2. The command will be automatically transferred to the Position Control Unit
during the next I/O refresh.
I/O refresh
Note Operation will be decelerated to a stop if the PC's operating mode is changed
(i.e., RUN/Monitor to Program, or Program to RUN/Monitor) while axes are be-
ing operated.
Position Control Unit (NC211)
Allocated I/O words
Command
interpreta-
tion
Operating mode
Always ON
Bit 03
Position Control Unit
Allocated I/O
Section 6-1
Command
execution
Command
execution