Omron NJ101-10 Series, User Manual

Page: 69 / 280

3
EtherCAT Communications
This section describes the different types of EtherCAT communications, EtherCAT set-
tings, and state transitions.
3-1 EtherCAT Communications Types and Settings ......................................... 3-2
3-1-1 CoE (CAN Application Protocol over EtherCAT) ............................................. 3-2
3-1-2 Types of Communications ............................................................................... 3-4
3-1-3 Types of EtherCAT Variables........................................................................... 3-6
3-1-4 Settings Required for EtherCAT Communications .......................................... 3-7
3-2 Programming EtherCAT Communications .................................................. 3-8
3-3 State Transitions for EtherCAT Communications ....................................... 3-9
3-3-1 Self Diagnosis at Startup................................................................................. 3-9
3-3-2 Control States for EtherCAT Communications ................................................ 3-9
3-3-3 EtherCAT Status in Relation to CPU Unit Status ...........................................3-11
3-1
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
3