A-9-3 System-Defined Variables That Indicate Ethercat Slave Or Axis Status - Omron NJ-series User Manual

Appendices
EC_ChangeEnableSetting Instruction
The EC_ChangeEnableSetting (Enable/Disable EtherCAT Slave) instruction is used to enable and dis-
able EtherCAT slaves. You can use the EC_ChangeEnableSetting instruction to enable or disable the
EtherCAT slave with the specified node address. If you cycle the power supply to the Controller after
this instruction is executed, the settings will return to the settings from before instruction execution.
Refer to the NJ-series Instructions Reference Manual (Cat. No. W502-E1-06 or later) for the detailed
specifications of the EC_ChangeEnableSetting instruction.
MC_ChangeAxisUse Instruction
The MC_ChangeAxisUse (Change Axis Use) instruction is used to enable and disable axes. The
MC_ChangeAxisUse instruction changes the setting of the Axis Use axis parameter of the specified
axis between Used Axis and Unused Axis. If you cycle the power supply to the Controller after this
instruction is executed, the settings will return to the settings from before instruction execution. Refer to
the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508-E1-05 or later) for the
detailed specifications of the MC_ChangeAxisUse instruction.
A-9-3 System-defined Variables That Indicate EtherCAT Slave or Axis
Status
You can check the values of system-defined variables to get the current status of EtherCAT slaves and
axes. The system-defined variables for these are given below.
Accessed status
EtherCAT slaves
Axes
_EC_DisableSlavTbl[] (Disabled Slave Table)
The _EC_DisableSlavTbl[] (Disabled Slave Table) system-defined variable tells whether each EtherCAT
slave is currently disabled. The node address is specified for the array subscript. The meanings of the
values in _EC_DisableSlavTbl[] (Disabled Slave Table) are given below.
Value
TRUE
FALSE
_MC_AX[ ].Cfg.AxEnable (Axis Use)
The _MC_AX[ ].Cfg.AxEnable (Axis Use) system-defined variable tells whether each axis is defined
and whether each axis is used. The axis number is specified for the array subscript. The meanings of
the values in _MC_AX[].Cfg.AxEnable (Axis Use) are given below.
Value
0: _mcNoneAxis
1: _mcUnusedAxis
2: _mcUsedAxis
A-106
System-defined variable name
_EC_DisableSlavTbl[] (Disabled Slave Table)
_MC_AX[].Cfg.AxEnable (Axis Use)
The EtherCAT slave with the specified node address is disabled.
The EtherCAT slave with the specified node address is enabled.
The specified axis is an undefined axis.
The specified axis is an unused axis.
The specified axis is a used axis.
Meaning
Meaning
NJ-series CPU Unit Software User's Manual (W501)