Programming Ethercat Communications - Omron Sysmac NJ Series User Manual

3 EtherCAT Communications
3-2
Programming EtherCAT Communica-
tions
The user program in the NJ/NX-series CPU Unit reads/writes EtherCAT slave data and performs mo-
tion 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
Constantly read/
Process data written
Read/written as re-
quired
SDO data
Constantly read/
written
Process data
Read/written as re-
quired
SDO data
Instructions
Read/write instructions
such as LD, OUT and
MOV
EtherCAT communica-
tions instructions
(EC_CoESDORead or
EC_CoESDOWrite)
Motion control instruc-
tions or read/write in-
structions such as LD,
OUT and MOV
EtherCAT communica-
tions instructions
(EC_CoESDORead or
EC_CoESDOWrite)
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Variables
Device variables
User-defined variables
Axis Variables or device
variables
User-defined variables