A-3-2 Program Example For The Ethercat Master - Omron CJ1W-ECT21 Operation Manual

A-3-2 Program Example for the EtherCAT Master
Use the following program example as a guide to detect that the NJ-series CPU Unit with a mounted
EtherCAT Slave Unit enters PROGRAM mode. In the following example, an NJ-series CPU Unit's
built-in EtherCAT port is used as the EtherCAT master.
This program example uses the following items.
Item
_EC_PDSlavTbl[1]
E001_Input001[0]
E001_Output001[0]
WatchDogBit
AccumulationTimer instruc-
tion
SetAlarm instruction
ECAT_Slave_PRG_Mode
CJ-series EtherCAT Slave Units Operation Manual for NJ-series CPU Unit (W542)
System-defined variable for the NJ-series CPU Unit to indicate that the EtherCAT
slave (node 01) is performing process data communications.
Device variable assigned to the EtherCAT Slave Unit.
Internal variable to reset the accumulation timer when E001_Input001[0] changes
state.
Instruction that checks for a stop in bit toggling for a preset time amount that will
occur when the NJ-series CPU Unit with a mounted EtherCAT Slave Unit enters
PROGRAM mode. Refer to Timing Considerations on page A-12.
Instruction that creates a user-defined error when the NJ-series CPU Unit with a
mounted EtherCAT Slave Unit enters PROGRAM mode.
External variable to indicate that the NJ-series CPU Unit with a mounted Ether-
CAT Slave Unit has entered PROGRAM mode.
Description
Appendices
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