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2-11
2 Motion Control Configuration and Principles
NJ-series CPU Unit Motion Control User’s Manual (W507)
2-4 EtherCA
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2-4
EtherCAT Communications and
Motion Control
The MC Function Module controls Servo Drive and encoder input slaves through the PDO communica-
tions of the EtherCAT Master Function Module in the CPU Unit. This section describes EtherCAT com-
munications and other items related to the MC Function Module.
The MC Function Module exchanges data with the slaves on EtherCAT using the CAN application pro-
tocol over EtherCAT (CoE). With CoE, the parameters and control information held by the slaves are
specified according to data specifications of the object dictionary (OD). To communicate the data
between the Controller (communications master) and slaves, two methods are used: process data
objects (PDOs), which periodically exchange data in realtime, and service data objects (SDOs), which
exchange data when required.
The MC Function Module uses PDO communications for commands to refresh I/O data, such as data
for Servomotor position control, on a fixed control period. It uses SDO communications for commands
to read and write data at specified times, such as for parameter transfers.
2-4-1
CAN Application Protocol over EtherCAT (CoE)
Controller
(communications master)
Slaves
Output data
Input data
Write data
Read data
Executed periodically.
Executed for requests.
PDO communications
SDO communications
EtherCAT
communications lines
Содержание NJ501-1300
Страница 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Страница 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Страница 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Страница 44: ...1 Introduction to the Motion Control Function Module 1 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 58: ...2 Motion Control Configuration and Principles 2 14 NJ series CPU Unit Motion Control User s Manual W507...
Страница 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Страница 98: ...4 Checking Wiring from the Sysmac Studio 4 12 NJ series CPU Unit Motion Control User s Manual W507...
Страница 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Страница 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Страница 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Страница 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Страница 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Страница 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Страница 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Страница 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...