2 Motion Control Configuration and Principles
2-12
NJ-series CPU Unit Motion Control User’s Manual (W507)
The NJ-series CPU Unit can perform sequence control and motion control through connections to
EtherCAT slaves.
z
Sequence Control
•
I/O ports for configuration slaves are automatically created when you create the EtherCAT Config-
uration in EtherCAT Edit Tab Page.
•
Perform sequence control through instructions other than motion control instructions.
z
Motion Control
•
I/O ports for configuration slaves are automatically created when you create the EtherCAT Config-
uration in EtherCAT Edit Tab Page.
•
Create Axis Variables in Motion Control Setup View and assign the EtherCAT slaves for which
motion control is performed.
•
Perform motion control through motion control instructions.
There are two types of EtherCAT slaves that can be assigned to Axis Variables: Servo Drive slaves and
encoder input terminal slaves.
Additional Information
•
Commands are not sent directly through PDO communications to an EtherCAT slave that is
assigned to an Axis Variable for instructions other than motion control instructions. However,
the status of such an EtherCAT slave can be accessed indirectly through the Axis Variables.
•
You can use SDO communications to read and write the objects of EtherCAT slaves that are
assigned to axes variables. However, do not use SDO communications to write objects that
are mapped to PDO communications. If you do, the operation of the slaves will depend on
slave specifications. For OMRON slaves, SDO communications will result in errors.
•
If Servo Drive and encoder input terminal EtherCAT slaves are not assigned to axes variables,
you must execute sequence control for them in the same way as for general-purpose Ether-
CAT slaves.
2-4-2
Relationship between EtherCAT Master Function Module and MC
Function Module
CPU Unit
User program in PLC
Function Module
Sequence
control
Executed
Executed
Executed
MC Function Module
EtherCAT
Master
Function
Module
CJ-series Units
Basic I/O
Units
EtherCAT
slaves
Servo Drive or
encoder input terminal
EtherCAT slaves
Special Units
Profile processing
Other processing
Task period
Task period
Synchronization
processing
Ex-
ecuted
Axis Variables
Variables
I/O ports
Motion control
Instructions
other than
motion control
instructions
User-created
function block
Motion control
instructions
EtherCAT
EtherCAT
Ex-
ecuted
Motion control
instructions
Summary of Contents for NJ501-1300
Page 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Page 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Page 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Page 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Page 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Page 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Page 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Page 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Page 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Page 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Page 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Page 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Page 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...