Omron NX701-17 Series User Manual page 61

EtherCAT Communications
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
This section describes the different types of EtherCAT communications, EtherCAT set-
tings, and state transitions.
3-1 EtherCAT Communications Types and Settings . . . . . . . . . . . . . . . . . . . . . 3-2
3-1-1 CoE (CAN Application Protocol over EtherCAT) . . . . . . . . . . . . . . . . . . . . . . . 3-2
3-1-2 Types of Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3-1-3 Types of EtherCAT Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3-1-4 Settings Required for EtherCAT Communications . . . . . . . . . . . . . . . . . . . . . . 3-7
3-2 Programming EtherCAT Communications . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3-3 State Transitions for EtherCAT Communications . . . . . . . . . . . . . . . . . . . . 3-9
3-3-1 Self Diagnosis at Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3-3-2 Control States for EtherCAT Communications . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3-3-3 CPU Unit Status in Relation to EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-11
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