Omron NJ101-10 Series, User Manual

Page: 157 / 280

(*Input data valid*)
IF ALLSlav_In=TRUE AND E001_In_Bit00=TRUE THEN
E001_Out_Bit07:=TRUE;
ELSE
E001_Out_Bit07:=FALSE;
END_IF;
6-1-4
System Response Time in Process Data Communications
This section defines the maximum I/O response time of process data communications in the system.
Standard Synchronization Timing
The following timing chart shows when sequence control and motion control are performed within the
task period of the primary periodic task in which EtherCAT communications were refreshed.
Input
CPU Unit
Network
Slave
Processing
OI
UP
RG
MC
Task period = Period of the primary periodic task
Output
Transmission cycle = Task period
Scheduled trigger = task period
Time lag = Task period
OI
UP
RG
MC OI
UP
RG
MC OI
UP
RG
MC OI
UP
RG
MC OI
UP
RG
MC
OI : I/O refresh
UPRG : User program execution
MC : Motion control
Slave output response time
Slave input response time
Maximum I/O response time
Task period + Transmission delay time + Transmission jitter
Process data communications cycle = Task period
(1)
(2) (3) (4)
(5)
{
{
1. The slave generates process data send frames with I/O information from sensors and other devi-
ces.
2. The EtherCAT master receives the process data frames that was sent from the slave through I/O
refreshing for the CPU Unit, and reads it as input data in the CPU Unit.
3. Based on the input data, the CPU Unit processes user program execution and motion control to
determine the output data.
4. The EtherCAT master generates a send frame of the process data with the output data produced in
step 3, and sends the frame to the slave before the slave performs reception processing.
6 Process Data Communications and SDO Communications
6-11
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6-1 Process Data Communications (PDO Communications)
6
6-1-4
System Response T
ime in Process Data Communications