Zw Communications Methods In An Ethercat Connection - Omron ZW-C1*AT User Manual

ZW Communications Methods in an EtherCAT Connection

Communications between the EtherCAT master and the displacement sensor is performed over EtherCAT to
enable control from the master by control signals and data output after measured values are applied.
When the displacement sensor is connected to an NJ series CPU Unit via EtherCAT, Sysmac Studio (standard
edition) is used to register the ZW to the EtherCAT slave configuration on the network configuration edit pane.
For details on registration methods, refer to Sysmac Studio Version 1 Operation Manual (SBCA-362) "4-2
Controller Configuration/Setting."
Important
If EtherCAT is set to enables to perform communications over EtherCAT, the EtherNet/IP communications setting is
disabled and EtherNet/IP communications is no longer possible.
Setting Communications Specifications (EtherCAT Communications) p.165
Communications method using process data objects (PDO)
● Control of displacement sensors by control/status signals
With EtherCAT communications, process data objects (PDO) are used to perform PDO communications (cyclic
communications). Control of the displacement sensor is performed by storing control signals/command from
the master to the displacement sensor, status signals from the displacement sensor to the master, and
command responses to the I/O ports (or I/O memory)
*1: When connected to the NJ series, "I/O ports" are used, and when connected to the CJ series, "I/O memory" is used. Explanations from
here on are for when the connection is to the NJ series.
Controller (master)
NJ-series CPU Unit
The Controller sends the instruction to the displacement sensor over EtherCAT by switching the control signal
bit assigned with control to be executed to ON.
The displacement sensor executes the instruction, and updates the status signal bit according to the result to
return it over EtherCAT. ÅB
When instructions are executed by control commands, control commands are sent to the displacement sensor
over EtherCAT by writing the control command, for example, to I/O port Command and then turning the control
command execution (EXE) bit ON.
The displacement sensor executes that control command, and returns the response to the Controller over
EtherCAT. The Controller stores the response to I/O port Response, for example.
162
EtherCAT Connection
I/O ports
Command area
Response area
EtherCAT communications
(*1)
of the Controller.
Displacement Sensor (slave)
Controll signal,
Commands
TIMING input
Current bank settings
command, etc.
Response
HOLDSTAT output
Command Response, etc.
ZW User's Manual