Software; Software Configuration - Omron NJ-series User Manual

2 CPU Unit Operation
2-2

Software

This section describes the software configuration of the CPU Unit, and how the software components
operate.
2-2-1

Software Configuration

The software in the CPU Unit is divided into four modules. These functional units are called function
modules.
The function modules and the processing that they perform are described in the following table.
Function module name
PLC Function Module
Motion Control Function Module
EtherCAT Master Function Mod-
ule
EtherNet/IP Function Module
*1 Some CJ-series Units can also be connected to an NJ-series CPU Unit.
*2 This function module executes motion processing based on target values (such as the position or velocity tar-
get value) from the motion control instructions. It outputs command values, controls status, and obtains infor-
mation through the EtherCAT Master Function Module.
*3 I/O refreshing for EtherCAT slaves is performed by using process data communications (also called PDO com-
munications). In PDO communications, the master and slaves exchange data cyclically at regular intervals.
*4 This module communicates with the EtherCAT slaves as the EtherCAT master.
2-4
Performs the following services: task scheduling, commands for other func-
tion modules, event logging, execution of the user program, I/O refreshing
for the CJ-series Units, USB port services, SD Memory Card services, and
data trace processing.
Performs motion control processing.
Performs communications with EtherCAT slaves as the EtherCAT master,
*3
including I/O refreshing for the EtherCAT slaves, EtherCAT message com-
*4
munications , etc.
Performs processing for EtherNet/IP communications, including tag data link
processing, built-in EtherNet/IP port servicing, etc.
NJ-series CPU Unit Software User's Manual (W501)
Processing
*2
*1