5 Setting Up EtherCAT Communications with the Sysmac Studio
5-22
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Relation between Changes in the Enable/Disable Setting and I/O Operations
The I/O operations that occur for changes in the enable/disable settings of an EtherCAT slave are
given in the following table.
Precautions for Correct UsePrecautions for Correct Use
For a slave that changed from enabled to disabled, the values of the device variables from
before the change are retained.
Use the following processing to confirm if a slave is enabled or disabled.
(1) Confirm that the slave is enabled before you access the device variables of the input
device.
Change in status
Inputs Outputs
Input refresh values
Device variable
values
Device variable
values
Output refresh val-
ues
Disabled slaves
after turning ON
the power supply
or transferring the
EtherCAT network
configuration infor-
mation
Input refreshing is
performed but not
applied to the
device variables.
0 or FALSE Depends on results
of user program
execution.
Output refreshing
is not performed.
Slaves changed
from disabled to
enabled
Input refreshing is
performed.
Input refresh val-
ues are applied.
Depends on results
of user program exe-
cution.
The values of the
device variables
are output.
Slaves changed
from enabled to
disabled
Input refreshing is
performed but not
applied to the
device variables.
The values from
before the status of
the slave was
changed are
retained.
Depends on results
of user program
execution.
Depends on the set-
tings of the slave
and on slave mod-
els.
With GX-series
EtherCAT Slaves,
a value is output
according to the
Error Mode Output
setting on each
slave.
Device variable
of input device
Process A when input signal is ON
Process B when input signal is ON
Device variable
of input device
_EC_DisableSlavTbl
[node_address_of_input
_device] system-defined
variable
_EC_DisableSlavTbl
[node_address_of_input
_device] system-defined
variable
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