Writing User Programming; Handshaking With The Ej1 Ethercat Slave Unit With User Programming - Omron EJ1 EtherCAT User Manual

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Writing User Programming

This section describes how to write user programming to perform data transfer between the communi-
cations master and the EJ1 EtherCAT Slave Unit.
It is necessary to use handshaking to confirm that the Input Notification Data and Output Notification
Data that are updated between the communications master and the EJ1 EtherCAT Slave Unit are
received normally by the other party.
Additional Information
"SID" in "output SID" and "input SID" stands for sequential ID. The SID is an identifier used to
determine the sequential number of data in a sequential data set.
5-5-1 Handshaking with the EJ1 EtherCAT Slave Unit with User Pro-
gramming
Create user programming based on the following procedure.
1
Increment the Output SID to notify the EJ1 EtherCAT Slave Unit that the Output Notification
Data was updated.
2
Check whether the Output SID Response matches the above Output SID to confirm that the
EJ1 EtherCAT Slave Unit received the Output Notification Data successfully.
3
See if the Input SID was incremented to confirm when the Input Notification Data is updated.
4
Set the Input SID Response to the above Input SID to notify the EJ1 EtherCAT Slave Unit that
the Input Notification Data was received.
EJ1 EtherCAT Slave Unit User's Manual (H192)
5 Using the EJ1 EtherCAT Slave Unit with PDO Communications
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