Relationship Between Ethercat Master Function Module And Mc Function Module - Omron NJ501-1400 User Manual

2 Motion Control Configuration and Principles
2-4-2 Relationship between EtherCAT Master Function Module and MC
Function Module
The NJ-series CPU Unit can perform sequence control and motion control through connections to
EtherCAT slaves.
Sequence Control
• I/O ports for configuration slaves are automatically created when you create the EtherCAT Config-
uration in EtherCAT Edit Tab Page.
• Perform sequence control through instructions other than motion control instructions.
Motion Control
• I/O ports for configuration slaves are automatically created when you create the EtherCAT Config-
uration in EtherCAT Edit Tab Page.
• Create Axis Variables in Motion Control Setup View and assign the EtherCAT slaves for which
motion control is performed.
• Perform motion control through motion control instructions.
There are two types of EtherCAT slaves that can be assigned to Axis Variables: Servo Drive slaves and
encoder input terminal slaves.
User program in PLC
Function Module
Instructions
other than
motion control
instructions
User-created
Sequence
control
function block
Motion control
instructions
Motion control
Motion control
instructions
Additional Information
• Commands are not sent directly through PDO communications to an EtherCAT slave that is
assigned to an Axis Variable for instructions other than motion control instructions. However,
the status of such an EtherCAT slave can be accessed indirectly through the Axis Variables.
• You can use SDO communications to read and write the objects of EtherCAT slaves that are
assigned to axes variables. However, do not use SDO communications to write objects that
are mapped to PDO communications. If you do, the operation of the slaves will depend on
slave specifications. For OMRON slaves, SDO communications will result in errors.
• If Servo Drive and encoder input terminal EtherCAT slaves are not assigned to axes variables,
you must execute sequence control for them in the same way as for general-purpose Ether-
CAT slaves.
2-12
CPU Unit
Executed
Executed
Executed
Ex-
ecuted MC Function Module
Profile processing
Synchronization
Ex-
processing
ecuted
Other processing
Task period
EtherCAT
Master
Function
Module
Task period
NJ-series CPU Unit Motion Control User's Manual (W507)
CJ-series Units
Basic I/O
Units
Special Units
EtherCAT
EtherCAT
slaves
EtherCAT
Servo Drive or
encoder input terminal
EtherCAT slaves