Omron NX701-1

2-25
2 Motion Control Configuration and Principles
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
2-4 EtherCAT Communications and Motion
Control
2
2-4-3 Relationship between Process Data Communications Cycle and Motion Control Period
 NX102 CPU Unit, NX1P2 CPU Unit, and NJ-series CPU Unit
• Primary period = Motion control period = Process data communications cycle for EtherCAT com-
munications
CPU Unit
Slaves
Processing in slave
Motion control processing
by MC Function Module
Sequence control period
(primary periodic task)
Motion control period
= Primary periodic
task period
Communications cycle
(EtherCAT data communi-
cations cycle = Primary
periodic task period)
Data refresh
period in slave
(depends on
the slave)
Basic I/O Units and
Special Units
Sequence control period
(primary periodic task period or
periodic task period)
Execution of user
program in PLC
Function Module
EtherCAT