Sample Programming - Omron NX102 series User Manual

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Sample Programming

This sample uses an EtherCAT communications instruction to read the software version of an OMRON
R88D-KN01L-ECT Servo Drive. The node address of the slave is 1.
The object index for the software version is 16#100A. The subindex is 0. The read value is stored in
STRING variable VersionInfo.
Built-in EtherCAT port
LD
Internal
Variables
Trigger
SdoObject
VersionInfo
EC_CoESDORead_instance
External
Variables
_EC_MBXSlavTbl
Accept trigger.
Trigger _EC_MBXSlavTbl[1]
Processing after normal end
Trigger EC_CoESDORead_instance.Done
Processing after error end
EC_CoESDORead_instance.Error
Trigger
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
SDO read
Variable Data type
BOOL
_sSDO_ACCESS
STRING[256]
EC_CoESDORead
V r a a i b e l D a a t y t p
ARRAY[1..192] OF BOOL
(@)MOVE
EN
In
UINT#16#100A
(@)MOVE
EN
USINT#0 In
(@)MOVE
EN
FALSE In
EC_CoESDORead_instance
EC_CoESDORead
Execute
UINT#1
NodeAdr
SdoObject
SdoObj
UINT#20
TimeOut
ReadDat
VersionInfo
Remote slave node address 1
Object Dictionary Settings
Index: 16#100A
Subindex 0
Initial value
False
(Index:=0, Subindex:=0,
IsCompleteAccess:=False)
''
e Constant
Message Communications Enabled Slave Table
ENO
Out
SdoObject.Index
ENO
Out
SdoObject.Subindex
ENO
Out
SdoObject.IsComleteAccess
Done
Busy
Error
ErrorID
AbortCode
ReadSize
Inline ST
1 // Processing after normal end
2 ;
Inline ST
1 // Processing after error end
2 ;
Comment
Execution condition
SDO parameter
Read data
C o m m e t n
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