Relationship Between Ethercat Master Function Module And Mc Function Module - Omron NX701-1 User Manual

2-4-2 Relationship between EtherCAT Master Function Module and MC
Function Module
The NJ/NX-series CPU Unit can perform sequence control and motion control through connections to
EtherCAT slaves.
Sequence Control
• I/O ports for configuration slaves are automatically created when you create the EtherCAT Config-
uration in EtherCAT Tab Page in the Sysmac Studio.
• You use the I/O Map Tab Page in the Sysmac Studio to assign device variables.
• Perform sequence control through instructions other than motion control instructions.
Motion Control
• I/O ports for configuration slaves are automatically created when you create the EtherCAT Config-
uration in EtherCAT Tab Page in the Sysmac Studio.
• Create Axis Variables in Motion Control Setup View and assign the EtherCAT slaves for which
motion control is performed.
• Perform motion control through motion control instructions.
The following devices can be assigned to Axis Variables: EtherCAT slave Servo Drives, Encoder Input
Terminals, and NX-series Position Interface Units.
Additional Information
• Commands are not sent directly through PDO communications to an EtherCAT slave or NX-
series Position Interface Unit that is assigned to an Axis Variable for instructions other than
motion control instructions. However, the status of such an EtherCAT slave can be accessed
indirectly through the Axis Variables.
• You can use SDO communications to read and write the objects of EtherCAT slaves and NX-
series Position Interface Units that are assigned to axes variables. However, do not use SDO
communications to write objects that are mapped to PDO communications. If you do, the oper-
ation of the slaves will depend on slave specifications. For OMRON slaves, SDO communica-
tions will result in errors.
• If EtherCAT slave Servo Drives, Encoder Input Terminals, and NX-series Position Interface
Units are not assigned to axes variables, you must execute sequence control for them in the
same way as for general-purpose EtherCAT slaves.
Version Information
With the Sysmac Studio version 1.09 or higher, you can assign device variables to the I/O ports
of slaves and Units that are assigned to the Axis Variables.
The following are the conditions of I/O ports to which you can assign device variables.
• I/O ports with Read/Write attribute set to Read (R: Read only).
• I/O ports with Read/Write attribute set to Write (W: Write only). Also, for these I/O ports,
<Not assigned> must be set for the process data field under Detailed Settings on the Axis
Basic Settings Display in the Sysmac Studio.
If you used the Sysmac Studio version 1.09 or higher to create a project and assign device vari-
ables to the Axis Variables, and open the project with the Sysmac Studio version 1.08 or lower,
the assignment of the device variables will be cleared.
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
2 Motion Control Configuration and Principles
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