Omron Sysmac NY-series Instruction & Reference Manual page 672

5 Common Command Instructions
Precautions for Correct Use
• Use this instruction to save the cam data after it is overwritten before you turn OFF the Con-
troller. If you turn OFF the Controller without saving the cam data, the overwritten data will be
lost.
• If the cam table is changed while this instruction is being processed, the update process will
not be performed correctly. Do not write to the cam table while this instruction is being proc-
essed when changing the cam table from the user program.
• This instruction has a considerably longer processing time compared with other instructions.
The processing time is greatly affected by the processing load on the CPU Unit. If the next
instruction is executed taking the completion of this instruction as a trigger, take care with the
timing of execution of the next instruction.
• Do not turn OFF the Controller while this instruction is being processed. The data is not
saved correctly if the Controller is turned OFF. The cam data in non-volatile memory may be-
come corrupted.
• You cannot upload cam data, download cam data, start online operation, perform online edit-
ing, or start data traces during execution of this instruction.
If this instruction is executed during a cam data upload, cam data download, or online editing,
a Cannot Execute Save Cam Table Instruction error (error code: 743C hex) occurs. Perform
retry processing until the cam data is saved normally.
Use the Synchronize Menu of the Sysmac Studio to upload and download the data.
• There is a limit to the number of times that you can write non-volatile memory. The life of the
non-volatile memory will expire faster if this instruction is executed frequently. Do not execute
it any more than is necessary.
• Cam data variables are global variables. You can therefore access or change the values of
cam data variables from more than one task. If you change the values of cam data variables
from more than one task, program the changes so that there is no competition in writing the
value from more than one task.
• If you use exclusive control of global variables between tasks for a cam data variable, do not
use the cam data variable for motion control instructions while exclusive control is in effect for
the cam data variable. An Incorrect Cam Table Specification error (error code: 5439 hex) will
occur.
• Do not execute this instruction while online edits are being saved. Otherwise the online edits
may not be saved correctly.
Saving of online edits continues until the dialog box that indicates saving data to built-in non-
volatile memory closes.
 Relation to CPU Unit Operating Modes
Cam data save processing for this instruction continues even if the operating mode of the CPU Unit
changes to PROGRAM mode.
To see if cam data save processing is in progress in PROGRAM mode, place the Sysmac Studio on-
line and monitor the _MC_COM.Status.CamTableBusy system-defined variable for motion control.
 Deleting Instruction with Online Editing
Cam data save processing for this instruction continues even if this instruction is deleted with online
editing.
Timing Charts
The following chart shows two ways to execute the instruction. A normal end is indicated for either
method.
The first time, Execute is changed to TRUE and then it is changed to FALSE before execution of the
instruction is completed.
5-10
NY-series Motion Control Instructions Reference Manual (W561)