Omron SYSMAC CS Series Instruction & Reference Manual page 790

3. Instructions
• NCDTR(219) can be used in interrupt tasks.
However, do not execute NCDTR(219) in a cyclic task for the same Unit if NCDTR(219) is executed
in an interrupt task. (The same thing applies to IORD(222) and IOWR(223).)
If an attempt is made to execute NCDTR(219) in an interrupt task when it is already being executed
for the same Unit in a cyclic task, it will cause a duplicate refresh error (non-fatal) and A402.13 will
turn ON.
Example Programming
When CIO 0.00 turns ON in the following example, the sequence that is waiting for a command input
from NCDTR(219) is started for task 1 of the Position Control Unit with unit number 3.
0.00
20.00
CJ2M CPU Unit
C
C+1
756
A302.03 10.00
Initializing Flag for
CPU Bus Unit with
unit number 3
Task 1
Unit number: 3
On-standby sequence in
Memory Operation started.
Speed
Waiting for
Sequence that was on standby
command from
NCDTR(219)
NCDTR
CPU Bus Unit with
#8003001
C
unit number 3, task 1
10.00
=
20.00
CJ1W-NC@81/NC@82 Position Control Unit
(CPU Bus Unit with unit number 3)
Commu-
nications
Task 1
Time
CS/CJ/NSJ Series Instructions Reference Manual (W474)
Servo
Drive