Ny-Series Instructions Reference Manual (W560 - Omron NY532-5400 Reference Manual

Additional Information
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) or NY-
series Industrial Panel PC / Industrial Box PC Built-in EtherCAT Port User's Manual (Cat. No. W562) for
details on EtherCAT communications.
Precautions for Correct Use
• Execution of this instruction is continued until processing is completed even if the value of Execute
changes to FALSE or the execution time exceeds the task period. The value of Done changes to
TRUE when processing is completed. Use this to confirm normal completion of processing.
• Refer to Using this Section on page 2-3 for a timing chart for Execute, Done, Busy, and Error.
• This instruction can be used only for the NJ/NX-series and NY-series Controller EtherCAT ports.
• If there are slaves with daisy-chain connections (i.e., connected to the output port) after the discon-
nected slave, they are disconnected from the EtherCAT network also.
• You cannot execute this instruction during execution of the following instructions: EC_Disconnect-
Slave, EC_ConnectSlave, EC_ChangeEnableSetting, ResetECError, RestartNXUnit, and
NX_ChangeWriteMode.
• You can execute a maximum of 32 of the following instructions at the same time:
EC_CoESDOWrite, EC_CoESDORead, EC_StartMon, EC_StopMon, EC_SaveMon, EC_CopyMon,
EC_DisconnectSlave, EC_ConnectSlave, EC_ChangeEnableSetting, IOL_ReadObj, and IOL_Write-
Obj.
• An error occurs in the following case. Error will change to TRUE.
• The slave specified with NodeAdr is not part of the EtherCAT network. That is, the value of
_EC_EntrySlavTbl[i] (Network Connected Slave Table) is FALSE.
• The slave specified with NodeAdr is disabled.
• The EC_DisconnectSlave,
RestartNXUnit, or NX_ChangeWriteMode instruction is already in execution.
• More than 32 of the following instructions were executed at the same time:
EC_CoESDOWrite, EC_CoESDORead, EC_StartMon, EC_StopMon, EC_SaveMon, EC_Copy-
Mon, EC_DisconnectSlave, EC_ConnectSlave, EC_ChangeEnableSetting, IOL_ReadObj and
IOL_WriteObj.
Sample Programming
This sample disconnects slave 1 from the EtherCAT network and then connects it again. When Trigger1
changes to TRUE, the EC_DisconnectSlave instruction is executed to disconnect slave 1. When Trig-
ger2 changes to TRUE, the EC_ConnectSlave instruction is executed to connect slave 1 again.
Exclusive Control of Instructions
You cannot execute the EC_DisconnectSlave and EC_ConnectSlave instructions at the same time.
Both of these instructions are executed over more than one task. Confirm the completion of the instruc-
tion that was executed first before you execute the other instruction. The ExclusiveFlg variable (Instruc-
tion Exclusive Flag) is used for this purpose. If the value of ExclusiveFlg is TRUE, then one of the
instructions is in execution. Do not execute the next instruction while the value of ExclusiveFlg is TRUE.
You cannot execute the EC_DisconnectSlave and EC_ConnectSlave instructions at the same time
even in separate tasks. Therefore, ExclusiveFlg is defined as a global variable in this sample program-
ming. That allows this sample programming to perform exclusive control with instructions in other tasks.
The same global variable, ExclusiveFlg, must also be used in the other tasks to perform exclusive con-
trol of the instructions.

NY-series Instructions Reference Manual (W560)

EC_ConnectSlave, EC_ChangeEnableSetting,
2 Instruction Descriptions
ResetECError,
2
2-921