6-1
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
6
This section describes the timing of communications, response times, and special
instructions for process data communications and SDO communications. It also pro-
vides sample programming.
6-1 Process Data Communications (PDO Communications) . . . . . . . . . . . . . . 6-2
6-1-1 Allocated Variables for Process Data Communications . . . . . . . . . . . . . . . . . . 6-2
6-1-2 Process Data Communications Refresh Timing . . . . . . . . . . . . . . . . . . . . . . . 6-4
6-1-3 Checking the Validity of the Process Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6-1-4 System Response Time in Process Data Communications . . . . . . . . . . . . . . 6-12
6-1-5 I/O Operations for Major Fault Level Controller Errors and
I/O Refreshing with Specified Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
6-2 SDO Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
6-2-1 EtherCAT Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
6-2-2 Sample Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
6-2-3 Execution Timing of SDO Communications . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22
6-2-4 Minimum Message Response Time for SDO Communications . . . . . . . . . . . 6-23
6-3 Instructions Used in EtherCAT Communications . . . . . . . . . . . . . . . . . . . 6-27
6-3-1 EtherCAT Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
Process Data Communications
and SDO Communications
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