Process Data Communications Refresh Timing - Omron Sysmac NJ Series User Manual

Axis Variables
Servo Drives and encoder input slaves that are assigned to axes on EtherCAT can be controlled by
specifying Axis Variables (structures) as parameters for motion control instruction in-out variables.
Axis Variables (structures) consist of the following data.
• Parameters: Maximum acceleration rate, software limits, etc.
• I/O: Home proximity input, Servo ON, etc.
• Operating status: Accelerating, waiting for in-position state, etc.
• Error and warning status: Excessive following error, acceleration error, etc.
NJ/NX-series CPU Unit
User program
Servo Drive/encoder
input slave
6-1-2

Process Data Communications Refresh Timing

The process data communications cycle is the same as the task period of the primary periodic task or
the priority-5 periodic task for sequence control. It is also the same as the motion control period.
The control periods between each function module and between the function module and the slave
are shown as follows.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
Reading, writing, and commands
Axis Variables (structures)
EtherCAT
Process data
Process data
Process data
Servo Drive/encoder
input slave
Process data
Process data
Process data
6
6-3