2-13
2 Motion Control Configuration and Principles
NJ-series CPU Unit Motion Control User’s Manual (W507)
2-4 EtherCA
T
Com
m
un
icatio
ns an
d Mo
tio
n
Con
tr
o
l
2
2-4-3 R
elat
ionship betw
een Pro
c
ess Data Comm
unications Cycle an
d Motio
n Contro
l P
e
riod
The PLC Function Module sends motion control commands to the MC Function Module when motion
control instructions are executed in the user program. The MC Function Module then performs motion
control processing based on those commands and sends the results of processing as commands to the
EtherCAT’s Servo Drive.
This type of data exchange is updated as shown in the following processing period.
Primary period = Motion control period = Process data communications cycle
for EtherCAT communications
2-4-3
Relationship between Process Data Communications Cycle and
Motion Control Period
CPU Unit
Slaves
Processing in slave
Motion control processing
by MC Function Module
Sequence control period
(primary periodic task)
Motion control period
= Primary periodic
task period
Communications cycle
(EtherCAT data communi-
cations cycle = Primary
periodic task period)
Data refresh
period in slave
(depends on
the slave)
Basic I/O Units,
Special I/O Units,
and CPU Bus Units
Sequence control period
(primary periodic task period or
periodic task period)
Execution of user
program in PLC
Function Module
EtherCAT
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...