Omron SYSMAC C500-NC113, Руководство по эксплуатации

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1-5 Section
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1-5 Exchanging Data
The Position Control Unit exchanges data with the CPU Unit as shown in the fol-
lowing diagram.
CPU Unit Position Control Unit
Data area
I/O allocation
Beginning
word n
Command (in Program Mode)
DM area
Data
Address N
Address M
IR area
Command (in RUN
or Monitor Mode)
IR area
I/O refresh
Intelligent I/O Write
instruction
(Positioning data)
Intelligent I/O Write
instruction
(START command, etc.)
Intelligent I/O Read
instruction
(PCU status)
I/O allocation
Status
Internal RAM
Command
interpretation
Status Area
15 wds**
9 wds*
* 5 words for the NC113 Unit.
** 8 words for the NC113 Unit
Explanation
1, 2, 3... 1. I/O Allocation
The Position Control Unit occupies two CPU Unit output words (32 bits).
During an I/O refresh (when the CPU Unit is in Program Mode), one of those
words is used for transferring commands from the CPU Unit to the PCU, and
the other is used for transferring PCU status to the CPU Unit.
2. Data
The positioning data to be stored at the PCU is transferred from the CPU
Unit to the PCU, along with the addresses for the individual items of data, by
means of the PCU’s Intelligent I/O Write instruction. The data is then stored
in the PCU’s internal RAM according to the header addresses.