Omron NJ101-10 Series, User Manual

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5-5-1 Changing the PDO Map Settings ..............................................................................................5-23
5-5-2 EtherCAT Slave Enable/Disable Settings..................................................................................5-25
5-6 Comparing and Merging EtherCAT Network Configurations ..........................................5-28
5-6-1 Introduction for Comparing and Merging EtherCAT Network Configurations............................5-28
5-6-2 Operation Procedure for Comparing and Merging EtherCAT Network Configurations .............5-28
5-6-3 When Compare and Merge with Actual Network Configuration Dialog Box Is Not
Displayed ..................................................................................................................................5-32
5-6-4 When Slaves on Actual Network Configuration Are Not Displayed ..........................................5-39
5-7 Automatically Creating the Network Configuration..........................................................5-40
5-8 Using the Sysmac Studio to Obtain Serial Numbers from the Actual Network
Configuration .......................................................................................................................5-43
5-9 Downloading the Network Configuration Information from the Sysmac Studio ...........5-45
5-10 Confirming Communications after Completing EtherCAT Configuration and Settings5-47
Section 6 Process Data Communications and SDO Communica-
tions
6-1 Process Data Communications (PDO Communications)...................................................6-2
6-1-1 Allocated Variables for Process Data Communications ..............................................................6-2
6-1-2 Process Data Communications Refresh Timing..........................................................................6-3
6-1-3 Checking Validity of Process Data ..............................................................................................6-6
6-1-4 System Response Time in Process Data Communications ...................................................... 6-11
6-1-5 I/O Operations for Major Fault Level Controller Errors and I/O Refreshing with Speci-
fied Values.................................................................................................................................6-15
6-2 SDO Communications .........................................................................................................6-19
6-2-1 EtherCAT Communications Instructions....................................................................................6-19
6-2-2 Sample Programming ...............................................................................................................6-19
6-2-3 Execution Timing of SDO Communications ..............................................................................6-21
6-2-4 Minimum Message Response Time for SDO Communications ................................................6-21
6-3 Instructions Used in EtherCAT Communications.............................................................6-25
6-3-1 EtherCAT Communications Instructions....................................................................................6-25
Section 7 System-defined Variables Related to the Built-in Ether-
CAT Port
7-1 System-defined Variables That Are Related to the Built-in EtherCAT Port ......................7-2
7-1-1 What Are System-defined Variables?..........................................................................................7-2
7-1-2 System-defined Variables............................................................................................................7-2
7-1-3 EtherCAT Master Function Module, Category Name: _EC .........................................................7-9
Section 8 Example of Operations for EtherCAT Communications
8-1 Example of Operations for EtherCAT Communications ....................................................8-2
8-1-1 System Configuration Example...................................................................................................8-2
8-1-2 Wiring and Settings .....................................................................................................................8-2
8-1-3 Setting the EtherCAT Network Configuration ..............................................................................8-2
8-1-4 Programming...............................................................................................................................8-4
8-1-5 Offline Debugging........................................................................................................................8-5
8-1-6 Turning the Power ON.................................................................................................................8-5
8-1-7 Online Debugging .......................................................................................................................8-5
8-1-8 Downloading the Network Configuration Information and the User Program .............................8-5
8-1-9 Confirming the Start of Communications ....................................................................................8-5
CONTENTS
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NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)