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5-1
Section
Transferring and Saving Data
102
Executed
IORD/IOWR
instruction
Data transfer bit
CX-Position
Status
IORD
IOWR
READ
DATA
WRITE
DATA
SAVE
DATA
Upload
Download
Save
IORD/IOWR
instruction
During
IORD
execution
---
---
---
---
---
---
---
---
During
IOWR
execution
OK
Busy
OK
OK
OK
OK
Busy
Busy
Data
transfer bit
During
read
OK
OK
Error
Error
Error
OK
Busy
Busy
a s e b
During
write
OK
Busy
Error
Error
Error
OK
Busy
Busy
During
save
Busy
Busy
Error
Error
Error
OK
Busy
Busy
CX-Position During
upload
OK
OK
OK
OK
OK
OK
OK
OK
During
download
OK
Busy
Error
Error
Error
OK
Busy
(see note)
Busy
(see note)
During
save
Busy
Busy
Error
Error
Error
OK
Busy
(see note)
Busy
(see note)
Note
For when more than one CX-Position is used for one PCU.
The above table shows the operation that results when a data transfer function is
executed (the “executed” row in the table) on the data for one axis from the CPU
Unit or CX-Position while a data transfer function is being executed (the “status”
column in the table) on the data for another axis from the CPU Unit or CX-Posi-
tion. (If data transfer functions are executed from the CPU Unit at the same time,
depending on the processing in the PCU, it may be necessary to transpose rows
and columns in the above table to identify the kind of operation that will be per-
formed.)
“---” in the table indicates a combination of functions that does not exist. (The
IORD instruction reads all data in one operation. The status “during IORD
instruction” does not exist.)
“OK” in the above table indicates that the functions will be executed. The second
function will be executed after execution of the first function has been com-
pleted. However, if reading and writing (in whichever order) are performed for
the same data, depending on the timing of the PCU’s internal processing, the
values that are read may either be the values before writing or after writing. (See
the diagram below.)
Explanation
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