Name: Omron NJ Series
Brand: Omron
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2 CPU Unit Operation

2-14

NJ-series CPU Unit Software User’s Manual (W501)

 Accessing Servo Drive, Encoder Input, and General-purpose Slaves That Are

Not Assigned to Axes

These slaves are accessed through I/O ports for device variables for EtherCAT slaves. PDO commu-

nications are used to access data from I/O ports.

 Accessing Servo Drive and Encoder Input Slaves That Are Assigned to Axes

Servo Drive and encode input slaves that are assigned to axes are accessed directly through the

Axis variable. PDO communications are used to access data from Axis variables.

For example, if a Servomotor is controlled with a Servo Drive, the control commands for the Servo-

motor that is assigned to an Axis variable are sent to the Servo Drive. The feedback from the Servo-

motor is sent from the Servo Drive to the CPU Unit by using the Axis variable.

Refer to 3-5-2 Axis Variables and Axes Group Variables for details on Axis variables.

Example: General-purpose slave

I/O ports

CPU Unit

Device variables

for EtherCAT slaves

Variable

InBit15

InBit00

PDO communications

CPU Unit

Axis variable

System-defined variables

Axis variable

PDO communications

Servo Drive

Servomotor

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