Omron CJ1W- ECT21, Operation Manual

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A - 11
Appendices
CJ-series EtherCAT Slave Units Operation Manual (W541)
A-
3 Process D
at
a
E
x
chan
ge in
PROGRA
M Mod
e
A
A-3-
3 Prog
ram Example f
or the Ether
CA
T
S
lave Unit
Use the following program example as a guide to detect that the EtherCAT master enters PROGRAM
mode. A CJ-series CPU Unit with a mounted EtherCAT Slave Unit is used in the example below. The
EtherCAT Slave Unit’s unit number is set to 01.
This program example uses the following items.
A-3-3 Program Example for the EtherCAT Slave Unit
Item Description
OUT_Data_Bit Process data exchanged with the EtherCAT master.
IN_Data_Bit
Input_Data_Valid
Slave Status 2 bit to indicate that the EtherCAT Slave Unit is processing transmit
by process data communication.
Output_Data_Valid Slave Status 2 bit to indicate that the EtherCAT Slave Unit is processing receive by
process data communication.
IN_Port_Link_Status Slave Status 2 bit to indicate that the EtherCAT Slave Unit’s IN port has a link
established with another device.
Unit_Error Unit Status 1 bit to indicate an EtherCAT Slave Unit operating error.