Omron NJ101-10 Series, User Manual

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(*Input data valid*)
IF Slav_In=TRUE AND E001_In_Bit00=TRUE THEN
E001_Out_Bit07:=TRUE;
ELSE
E001_Out_Bit07:=FALSE;
END_IF;
Additional Information
You can read the status of the _EC_PDSlavTbl (Process Data Communicating Slave Table)
system-defined variable from the user program to see if I/O refreshing is normal.
Sample Programming to Check Validity of Process Data for Entire
Slaves
With this sample program, validity of process data is checked collectively for all slaves that are con-
nected to the network, and the process data inputs and outputs with the slaves are controlled.
The slave with which the process data is input and output is given the node address 1.
The
_EC_PDActive (Process Data Communications Status) system-defined variable is used to see if
the process data inputs and outputs are valid for all of the slaves.
If the process data inputs and outputs with all slaves are valid, E001_Out_Bit07 changes to TRUE
when E001_In_Bit00 changes to TRUE. Also, when the process data outputs with all slaves are valid,
E001_Out_Bit00 changes to TRUE.
Precautions for Correct Use
If you execute the instructions below, the _EC_InDataInvalid (Input Data Invalid),
_EC_InData1Invalid (Input Data1 Invalid), and _EC_InData2Invalid (Input Data2 Invalid) sys-
tem-defined variables will temporarily change to TRUE depending on the task to which the
specified EtherCAT slave is assigned.
• EC_DisconnectSlave (Disconnect EtherCAT Slave)
• EC_ConnectSlave (Connect EtherCAT Slave)
• EC_ChangeEnableSetting (Enable/Disable EtherCAT Slave)
6 Process Data Communications and SDO Communications
6-9
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6-1 Process Data Communications (PDO Communications)
6
6-1-3
Checking V
alidity of Process Data