Omron NJ-series User Manual page 73

2 CPU Unit Operation
 Accessing Servo Drive, Encoder Input, and General-purpose Slaves That Are
Not Assigned to Axes
These slaves are accessed through I/O ports for device variables for EtherCAT slaves. PDO commu-
nications are used to access data from I/O ports.
Device variables
for EtherCAT slaves
Variable
Variable
 Accessing Servo Drive and Encoder Input Slaves That Are Assigned to Axes
Servo Drive and encode input slaves that are assigned to axes are accessed directly through the
Axis variable. PDO communications are used to access data from Axis variables.
For example, if a Servomotor is controlled with a Servo Drive, the control commands for the Servo-
motor that is assigned to an Axis variable are sent to the Servo Drive. The feedback from the Servo-
motor is sent from the Servo Drive to the CPU Unit by using the Axis variable.
CPU Unit
System-defined variables
Axis variable
Axis variable
Refer to 3-5-2 Axis Variables and Axes Group Variables for details on Axis variables.
2-14
CPU Unit
I/O ports
PDO communications
InBit00
to
PDO communications
InBit15
Servo Drive
PDO communications
Servo Drive
PDO communications
Example: General-purpose slave
00
to
15
Servomotor
Servomotor
NJ-series CPU Unit Software User's Manual (W501)