Omron NJ101-10 Series, Руководство пользователя

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EtherCAT
Master
Function
Module
PLC Function Module
NJ/NX-series CPU Unit
Slave
Processing in slave
Data refresh cycle in slave
(depends on the slave)
Sequence control period
(Task period of primary periodic
task or priority-5 or priority-16
periodic task)
EtherCAT communications
Device
variables
Motion control period
(Task period of primary periodic
task or priority-5 periodic task)
Motion
Control
Function
Module
Axes
variables
Instruction
Motion
control
instruction
Execution of user
program
Process data communications cycle
(EtherCAT data transmission cycle)
This is the same as the task period of
primary periodic task or priority-5
periodic task.
Axes
variables
Task period of primary periodic task or priority-5 periodic task = Motion control period = Process data
communications cycle
Precautions for Correct Use
• You can use the priority-5 periodic task only with NX701 CPU Units.
• With an NX701 CPU Unit, you can perform process data communications separately in each
task period of the primary periodic task and the priority-5 periodic task. If these two process
data communications cycles must be distinguished, the cycle for the primary periodic task is
called process data communications cycle 1 and the cycle for the priority-5 periodic task is
called process data communications cycle 2.
• With an NX701 CPU Unit, you can execute motion control in the primary periodic task and in
the priority-5 periodic task. If these two motion controls must be distinguished, the one exe-
cuted by the primary periodic task is called motion control 1 and the other executed by the
priority-5 periodic task is called motion control 2.
• The NX102 and NX1P2 CPU Units and NJ-series CPU Units perform process data communi-
cations only in the primary periodic task.
Relationship Between Process Data Communications Cycle and
Task Setting
The process data communications cycles of the primary periodic task and priority-5 periodic task are
synchronized with the task period of the task to which I/O refreshing is assigned for each EtherCAT
slave.
Assigning I/O refreshing to tasks, setting procedure on Sysmac Studio, and I/O refreshing timing are
shown as follows.

Assigning I/O Refreshing to Tasks
I/O refreshing of the EtherCAT slaves is assigned to the tasks.
6 Process Data Communications and SDO Communications
6-4
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)