Omron NJ101-10 Series, User Manual

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6
Process Data Communications
and SDO Communications
This section describes the timing of communications, response times, and special in-
structions for process data communications and SDO communications. It also pro-
vides sample programming.
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 Re-
freshing with Specified 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
6-1
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6