Omron NJ-series User Manual page 636

In the Sysmac Studio project, an EtherCAT Slave Configuration is created for all four EtherCAT slaves
and axes in A, B, C, and D in the figure. Then, on the Sysmac Studio, you set the EtherCAT slave
enable/disable settings, Axis Use parameter settings, and the associated program run/stop status at the
start of operation according to machine 1, as shown in the following table.
EtherCAT
slave
A, B, and C
D
To make changes for machine 2, you use instructions to change the EtherCAT slave enable/disable settings, Axis
Use parameter settings, and the associated program enable/disable settings as shown in the following table.
EtherCAT
slave
A, B, and C
D
The user program algorithm is shown in the following figure. A signal is input to the Controller from an
external device to specify whether machine 1 or machine 2 is operated.
External signal input.
The EC_ChangeEnableSetting instruction is executed to enable
the slave for node D and the MC_ChangeAxisUse instruction is
executed to change the axis for node D to a used axis.
The program associated with node D is executed by the
PrgStart instruction.
Application 2: Changing the EtherCAT Slave Configuration and Axis
Composition during Operation
In the following figure, production line 1 is left running while the EtherCAT slaves and axis composition
on production line 2 are changed.
CPU
Unit
EtherCAT
A B
EtherCAT slaves, axes
C D
EtherCAT slaves, axes
NJ-series CPU Unit Software User's Manual (W501)
Installed in Enable/disable
EtherCAT network
Installed. Enabled.
Not installed. Disabled.
Installed in Enable/disable
EtherCAT network
Installed. Enabled.
Installed. Enabled.
Yes
Machine 1?
No
Operation started.
Production line 1 is left running
while the EtherCAT slaves and
axis composition on production
line 2 are changed.
Production line 1
Production line 2
E
Axis Use
setting parameter setting
Used Axis
Unused Axis
Axis Use
setting parameter setting
Used Axis
Used Axis
CPU
Unit
EtherCAT
EtherCAT slaves, axes
EtherCAT slaves, axes
Appendices
Associated programs
Run at the start of opera-
tion.
Stop at the start of opera-
tion.
Associated programs
Executed.
Executed.
A B
Production line 1
Production line 2
F G
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