Using The Ej1 Ethercat Slave Unit With Pdo Communications - Omron EJ1 EtherCAT User Manual
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Also See for EJ1 EtherCAT:
- User manual (306 pages) ,
- Quick start manual (3 pages) ,
- Instruction manual (2 pages)
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Using the EJ1 EtherCAT Slave
Unit with PDO Communications
EJ1 EtherCAT Slave Unit User's Manual (H192)
This section describes how to send data to and receive data from the EJ1 EtherCAT
Slave Unit by using PDO communications from the communications master.
5-1 EJ1 PDO Communications Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-2 How Data Is Sent and Received with PDO Communications . . . . . . . . . . . 5-3
5-2-1
CompoWay/F Commands and Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5-2-2
Control Commands and Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5-3 PDO Mapping Data Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5-3-1
Types of PDO Mapping Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5-3-2
PDO Mapping Data List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5-4 PDO Mapping Data Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5-4-1
(Communications Master to EJ1 EtherCAT Slave Unit) . . . . . . . . . . . . . . . . . . 5-8
5-4-2
(EJ1 EtherCAT Slave Unit to Communications Master) . . . . . . . . . . . . . . . . . 5-10
5-4-3
Sysmac Error Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5-5 Writing User Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5-5-1
5-5-2
5-5-3
Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5-6-1
Example of Sending and Receiving Data without Dividing into Parts . . . . . . . 5-18
5-6-2
Example of Sending and Receiving Data in Parts . . . . . . . . . . . . . . . . . . . . . 5-21
5-7 Setting CompoWay/F Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5-7-1
Output Data and Input Data Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5-7-2
Storing Output Data and Input Data in Array Variables . . . . . . . . . . . . . . . . . . 5-27
5-7-3
Setting the PDO Mappings for I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5-8 Assigning Device Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
5
5 - 1
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