Omron NJ101-10 Series, User Manual

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Additional Information
I/O Refreshing
The procedure from startup of the EtherCAT network until process data I/O can be refreshed is
shown below.
There is no correlation between the startup of the EtherCAT network and the execution of the
user program. Design the user program by adding the system-defined variables* for the rele-
vant slaves to the interlock conditions of the device variables for the slaves.
* _EC_MBXSlavTbl[1..n], _EC_PDSlavTbl[1..n]
Here, n is the maximum value of the settable node address. Refer to
1-3 Specifications of Built-
in EtherCAT Port on page 1-10 for the maximum value of the settable node address.
START
I/O refreshing started
for the relevant slave.
User program executed.
Applicable slave
parameters can be set.
5. When the _ EC_PDSlavTbl system-defined variable for the
relevant slave changes to TRUE, I/O refreshing for the relevant
slave is enabled.
4. When the _ EC_MBXSlavTbl system-defined variable for the
relevant slave changes to TRUE, message communications for
the relevant slave are possible.
3. The program waits for slaves to join the EtherCAT network.
2. Slaves initialized based on network configuration information.
1. EtherCAT master initialized.
Power ON
3-3-3
EtherCAT Status in Relation to CPU Unit Status
Refer to A-1 EtherCAT Status in Relation to CPU Unit Status on page A-2 for details on the follow-
ing: memory related to the EtherCAT master, the ability to download master settings and slave set-
tings, and the status of slaves according to the CPU Unit operating mode and the status of Controller
errors.
3 EtherCAT Communications
3-11
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
3-3 State T
ransitions for EtherCA
T Communications
3
3-3-3
EtherCA
T Status in Relation to CPU Unit Status