Omron NX701-17 Series User Manual page 121

Axis Variables
Servo Drives and encoder input slaves that are assigned to axes on EtherCAT can be controlled by
specifying Axis Variables (structures) as parameters for motion control instruction in-out variables.
Axis Variables (structures) consist of the following data.
• Parameters: Maximum acceleration rate, software limits, etc.
• I/O: Home proximity input, Servo ON, etc.
• Operating status: Accelerating, waiting for in-position state, etc.
• Error and warning status: Excessive following error, acceleration error, etc.
NJ/NX-series CPU Unit
User program
Servo Drive/encoder input
slave
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
Reading, writing, and commands
Axis Variables (structures)
EtherCAT
Process data
Process data
Process data
Servo Drive/encoder input
slave
Process data
Process data
Process data
6
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