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2 CPU Unit Operation

2-4

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

2-2 Software

This section describes the software configuration of the CPU Unit, and how the software components

operate.

The software in the CPU Unit is divided into four modules. These functional units are called function

modules.

The function modules and the processing that they perform are described in the following table.

*1 Some CJ-series Units can also be connected to an NJ-series CPU Unit.

*2 This function module executes motion processing based on target values (such as the position or velocity tar-

get value) from the motion control instructions. It outputs command values, controls status, and obtains infor-

mation through the EtherCAT Master Function Module.

*3 I/O refreshing for EtherCAT slaves is performed by using process data communications (also called PDO com-

munications). In PDO communications, the master and slaves exchange data cyclically at regular intervals.

*4 This module communicates with the EtherCAT slaves as the EtherCAT master.

2-2-1 Software Configuration

Function module name Processing

PLC Function Module Performs the following services: task scheduling, commands for other func-

tion modules, event logging, execution of the user program, I/O refreshing

for the CJ-series Units, USB port services, SD Memory Card services, and

data trace processing.

Motion Control Function Module

Performs motion control processing.

EtherCAT Master Function Mod-

ule

Performs communications with EtherCAT slaves as the EtherCAT master,

including I/O refreshing

for the EtherCAT slaves, EtherCAT message com-

munications

, etc.

EtherNet/IP Function Module Performs processing for EtherNet/IP communications, including tag data link

processing, built-in EtherNet/IP port servicing, etc.

Omron NJ Series User Manual

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