2-4-4 Synchronizing Sequence Control and Motion Control .............................................................. 2-22
2-5 Overview of CPU Unit Data ................................................................................................... 2-23
2-6 Operation for CPU Unit Status ............................................................................................. 2-25
2-6-1 CPU Unit Status........................................................................................................................ 2-25
2-6-2 Operation for CPU Unit Status ..................................................................................................2-27
2-6-3 Operating Modes....................................................................................................................... 2-28
Section 3 I/O Ports, Slave Configuration, and Unit Configuration
3-1 Procedure to Create the Slave and Unit Configurations...................................................... 3-2
3-2 Creating and Comparing the Slave and Unit Configurations .............................................. 3-5
3-2-1 Creating the EtherCAT Slave Configuration ................................................................................ 3-5
3-2-2 Creating the Unit Configuration................................................................................................... 3-6
3-2-3 Verifying the Unit Configuration................................................................................................... 3-6
3-3 I/O Ports and Device Variables ...............................................................................................3-8
3-3-1 I/O Ports......................................................................................................................................3-8
3-3-2 I/O Port Names ........................................................................................................................... 3-9
3-3-3 Device Variables .......................................................................................................................3-10
3-4 Allocating Variables to Units ................................................................................................3-13
3-4-1 Procedure to Assign Variables to Units.....................................................................................3-13
3-4-2 Using Variables Assigned to Units ............................................................................................3-14
3-5 Creating the Axes and Assigning Them to the Servo Drives/Encoder Input Slaves....... 3-16
3-5-1 Introduction ............................................................................................................................... 3-16
3-5-2 Axis Variables and Axes Group Variables ................................................................................. 3-17
3-5-3 Creating and Using Axes and Axis Variables............................................................................ 3-18
Section 4 Controller Setup
4-1 Overview of the Controller Setup........................................................................................... 4-2
4-2 Initial Settings for the PLC Function Module ........................................................................ 4-4
4-2-1 Introduction ................................................................................................................................. 4-4
4-2-2 Controller Setup .......................................................................................................................... 4-4
4-2-3 Task Settings...............................................................................................................................4-6
4-2-4 Unit Configuration and Unit Setup.............................................................................................4-11
4-3 Initial Settings for Special Units...........................................................................................4-13
4-4 Initial Settings for the Motion Control Function Module.................................................... 4-15
4-4-1 Introduction ............................................................................................................................... 4-15
4-4-2 Setting Methods ........................................................................................................................4-16
4-5 Initial Settings for the EtherCAT Master Function Module ................................................ 4-17
4-6 Initial Settings for the EtherNet/IP Function Module.......................................................... 4-18
Section 5 Designing Tasks
5-1 Overview of Task Designing Procedure ................................................................................ 5-2
5-2 Task System ............................................................................................................................. 5-4
5-2-1 Overview of Tasks .......................................................................................................................5-4
5-2-2 Specifications of Tasks................................................................................................................5-6
5-2-3 Basic Operation of Tasks ............................................................................................................ 5-7
5-2-4 Event Task Execution Conditions ..............................................................................................5-13
5-2-5 Event Task Execution Timing ....................................................................................................5-18
5-2-6 Operation When Execution Condition Is Met Again before Execution
of the Event Task Is Completed ................................................................................................ 5-22
5-2-7 Tag Data Link Service and System Services ............................................................................ 5-23
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