Omron NJ101-10 Series, User Manual

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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.
EtherCAT
Process data
Process data
Process data
Process data
Process data
Process data
Servo Drive/encoder
input slave Servo Drive/encoder
input slave
Axis Variables (structures)
Reading, writing, and commands
User program
NJ/NX-series CPU Unit
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.
6 Process Data Communications and SDO Communications
6-3
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6-1 Process Data Communications (PDO Communications)
6
6-1-2
Process Data Communications Refresh T
iming