Omron NJ101-10 Series, Руководство пользователя

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Tasks to which assignment is possible and unit of assignment are different depending on the I/O
refreshing target. Unit of assignment refers to a target or a group of targets for I/O refreshing that
can be assigned to one I/O controlling task. For example, when the unit of assignment is Slave Ter-
minal, you can assign I/O refreshing to only one task even if more than one NX Unit is connected to
a Communications Coupler Unit.
The following table shows the relationship among the I/O refreshing target, the assignable task,
and the unit of assignment.
I/O refreshing target Assignable task Unit of assignment
Communications Coupler Unit
with an NX Unit assigned to an axis on the
Slave Terminal Primary periodic task or priority-5
periodic task
*1
Slave Terminal
Communications Coupler Unit
without an NX Unit assigned to an axis on the
Slave Terminal Primary periodic task or priority-5
and priority-16 periodic tasks
*1
EtherCAT slaves to which axes are assigned Primary periodic task or priority-5
periodic task
*1
Slave
Other EtherCAT slaves Primary periodic task or priority-5
and priority-16 periodic tasks
*1
*1. You can use the priority-5 periodic task only with NX701 CPU Units.

Sysmac Studio Setting Procedure
For the slaves and Units that are not assigned to axes, set the tasks in which to perform I/O re-
freshing in
I/O Control Task Settings under Configuration and Setup - Task Settings of the Sys-
mac Studio.
Refer to the
NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) for details.
For the slaves and Units that are assigned to axes, specify the motion controls to use in Motion
Control Setup under Confugurations and Setup of the Sysmac Studio. The tasks to perform I/O
refreshing are set.
Refer to the
NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for details.

Timing of I/O Refreshing
The table below shows when I/O is refreshed for each type of EtherCAT slaves.
Task that controls I/O Execution period of I/O refreshing
Primary periodic task
Task period of the primary periodic task
*1
Priority-5 periodic task
*2
Task period of the priority-5 periodic task
*1
Priority-16 periodic task
Task period of the primary periodic task
*1*3
*1. Refer to relevant manuals for each slave to check if the I/O refreshing period agrees with the communi-
cations cycle supported with the slave. An error occurs if you use the Sysmac Studio to set the I/O re-
freshing timing to a communications cycle that is not supported with the slave. The error occurs only with
the OMRON synced slaves.
*2. You can use the priority-5 periodic task only with NX701 CPU Units.
*3. EtherCAT communications is executed during I/O refreshing in the primary periodic task. If the priority-16
periodic task is used to control EtherCAT slaves, data will be refreshed by I/O refreshing in the task peri-
od of the priority-16 periodic task.
Relationship between tasks to execute I/O refreshing, process data communications cycle, and
motion control is shown as follows.
6 Process Data Communications and SDO Communications
6-5
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6-1 Process Data Communications (PDO Communications)
6
6-1-2
Process Data Communications Refresh T
iming