Programming Ethercat Communications - Omron NX701-17 Series User Manual

3 EtherCAT Communications
3-2 Programming EtherCAT
Communications
The user program in the NJ/NX-series CPU Unit reads/writes EtherCAT slave data and performs
motion control for Servo Drive and encoder input slaves.
Instructions and variables are used according to slave types and target data as shown below.
Slave type
Slaves to which you
cannot assign axes
Slaves to which you
can assign axes
3-8
Type of data Timing
Process data Constantly
read/written
SDO data Read/written as
required
Process data Constantly
read/written
SDO data Read/written as
required
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Instructions
Read/write instructions Device variables
such as LD, OUT and
MOV
EtherCAT instructions User-defined variables
(EC_CoESDORead or
EC_CoESDOWrite)
Motion control instruc- Axis Variables or
tions or read/write device variables
instructions such as
LD, OUT and MOV
EtherCAT instructions User-defined variables
(EC_CoESDORead or
EC_CoESDOWrite)
Variables