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

Exclusive Control of Instructions
You can execute only one EC_ChangeEnableSetting instruction at the same time. Also, the EC_Chan-
geEnableSetting instruction is executed over more than one task. Confirm the completion of the
EC_ChangeEnableSetting instruction before you execute the next EC_ChangeEnableSetting instruc-
tion. The ExclusiveFlg variable (Instruction Exclusive Flag) is used for this purpose. If the value of
ExclusiveFlg is TRUE, then an EC_ChangeEnableSetting instruction is in execution. Do not execute
the next EC_ChangeEnableSetting instruction while the value of ExclusiveFlg is TRUE.
You cannot execute the EC_ChangeEnableSetting instruction at the same time as another EC_Chan-
geEnableSetting instruction is in execution in another task. Therefore, ExclusiveFlg is defined as a
global variable in this sample programming. That allows this sample programming to perform exclusive
control with EC_ChangeEnableSetting instructions in the other tasks. The same global variable, Exclu-
siveFlg, must also be used in the other tasks to perform exclusive control of the instructions.
You cannot execute the EC_ChangeEnableSetting instruction at the same time as the EC_Disconnect-
Slave or EC_ConnectSlave instruction. The sample programming that is provided for the EC_Discon-
nectSlave instruction on page 2-920 uses the same ExclusiveFlg global variable as in this sample
programming as an example of exclusive control of instructions.
Axis Variables and Node Addresses for the EtherCAT Slaves
The axis variables that are assigned to the axes for EtherCAT slaves C, D, and E and the node
addresses of the slaves are given in the following table.
EtherCAT slaves
C
D
E
Definitions of Global Variables
Global Variables
Variable
MC_Axis000 _sAXIS_REF
MC_Axis001 _sAXIS_REF
MC_Axis002 _sAXIS_REF
ExclusiveFlg BOOL
LD
Internal
Vari-
ables
Operating1End
Trigger1
Operating1

NY-series Instructions Reference Manual (W560)

Axis variable Node address
MC_Axis000 1
MC_Axis001 2
MC_Axis002 3
Initial
Data type AT specification
value
MC://_MC_AX[0]
MC://_MC_AX[1]
MC://_MC_AX[2]
FALSE
Variable
BOOL
BOOL
BOOL
2 Instruction Descriptions
Constant
Axis variable for EtherCAT slave C
Axis variable for EtherCAT slave D
Axis variable for EtherCAT slave E
--- Instruction Exclusive Flag
Initial
Data type
value
FALSE
FALSE
FALSE
Comment
Comment
Processing completed
Execution condition
Processing
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2