Omron NJ101-10 Series, User Manual

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3-2 Programming EtherCAT Communica-
tions
The user program in the NJ/NX-series CPU Unit reads/writes EtherCAT slave data and performs mo-
tion control for Servo Drive and encoder input slaves.
Instructions and variables are used according to slave types and target data as shown below.
Slave type Type of data Timing Instructions Variables
Slaves to
which you
cannot assign
axes
Process data
Constantly read/
written Read/write instructions
such as LD, OUT and
MOV Device variables
SDO data
Read/written as re-
quired EtherCAT communica-
tions instructions
(EC_CoESDORead or
EC_CoESDOWrite) User-defined variables
Slaves to
which you can
assign axes
Process data
Constantly read/
written Motion control instruc-
tions or read/write in-
structions such as LD,
OUT and MOV Axis Variables or device
variables
SDO data
Read/written as re-
quired EtherCAT communica-
tions instructions
(EC_CoESDORead or
EC_CoESDOWrite) User-defined variables
3 EtherCAT Communications
3-8
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)