A-2-2 Example of Calculating the Average Real Processing Time
of a Task and Setting the Task Period.......................................................................................A-22
A-3 System-defined Variables .....................................................................................................A-26
A-3-1 System-defined Variables for the Overall NJ-series Controller (No Category) ......................... A-26
A-3-2 PLC Function Module, Category Name: _PLC......................................................................... A-33
A-3-3 PLC Function Module, Category Name: _CJB ......................................................................... A-34
A-3-4 Motion Control Function Module, Category Name: _MC..........................................................A-36
A-3-5 EtherCAT Master Function Module, Category Name: _EC.......................................................A-37
A-3-6 EtherNet/IP Function Module, Category Name: _EIP ..............................................................A-41
A-3-7 Meanings of Error Status Bits................................................................................................... A-47
A-4 Specifications for Individual System-defined Variables ....................................................A-49
A-4-1 System-defined Variables for the Overall NJ-series Controller (No Category) ......................... A-49
A-4-2 PLC Function Module, Category Name: _PLC......................................................................... A-60
A-4-3 PLC Function Module, Category Name: _CJB ......................................................................... A-61
A-4-4 Motion Control Function Module, Category Name: _MC..........................................................A-65
A-4-5 EtherCAT Master Function Module, Category Name: _EC.......................................................A-66
A-4-6 EtherNet/IP Function Module, Category Name: _EIP ..............................................................A-73
A-5 Attributes of CPU Unit Data ..................................................................................................A-81
A-6 Contents of Memory Used for CJ-series Units ...................................................................A-85
A-6-1 CIO Area...................................................................................................................................A-85
A-6-2 Internal I/O Area .......................................................................................................................A-87
A-6-3 Holding Area............................................................................................................................. A-88
A-6-4 DM Area.................................................................................................................................... A-88
A-6-5 EM Area....................................................................................................................................A-89
A-7 Variable Memory Allocation Methods..................................................................................A-90
A-7-1 Variable Memory Allocation Rules............................................................................................ A-90
A-7-2 Important Case Examples ........................................................................................................ A-98
A-8 Registering a Symbol Table on the CX-Designer .............................................................A-102
A-9 Enable/Disable EtherCAT Slaves and Axes.......................................................................A-105
A-9-1 Project Settings When Using EtherCAT Slaves and Axes ......................................................A-105
A-9-2 Using Instructions to Enable/Disable EtherCAT Slaves and Axes .......................................... A-105
A-9-3 System-defined Variables That Indicate EtherCAT Slave or Axis Status................................ A-106
A-9-4 Enabling/Disabling Execution of Program............................................................................... A-107
A-9-5 Checking Enabled/Disabled Program .....................................................................................A-107
A-9-6 Settings with the Sysmac Studio ............................................................................................ A-107
A-9-7 Examples of Applications of Enabling/Disabling EtherCAT Slaves and Axes ......................... A-108
A-10 Size Restrictions for the User Program.............................................................................A-111
A-10-1 User Program Object Restrictions .......................................................................................... A-111
A-10-2 Counting User Program Objects............................................................................................. A-114
A-11 Replacing CPU Units with Unit Version 1.02 or Earlier....................................................A-116
A-11-1 Uploading the Data from the CPU Unit................................................................................... A-116
A-11-2 Connecting the New CPU Unit ............................................................................................... A-119
A-11-3 Downloading the Data to the CPU Unit .................................................................................. A-120
A-12 Version Information .............................................................................................................A-124
A-12-1 Relationship between Unit Versions of CPU Units and Sysmac Studio Versions................... A-124
A-12-2 Functions That Were Added or Changed for Each Unit Version............................................. A-126
A-12-3 Performance Improvements for Unit Version Upgrades.......................................................... A-128
Index
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