Omron NJ Series User Manual

Appendices
A-106
NJ-series CPU Unit Software User’s Manual (W501)
The EC_ChangeEnableSetting (Enable/Disable EtherCAT Slave) instruction is used to enable and dis-
able EtherCAT slaves. You can use the EC_ChangeEnableSetting instruction to enable or disable the
EtherCAT slave with the specified node address. If you cycle the power supply to the Controller after
this instruction is executed, the settings will return to the settings from before instruction execution.
Refer to the NJ-series Instructions Reference Manual (Cat. No. W502-E1-06 or later) for the detailed
specifications of the EC_ChangeEnableSetting instruction.
The MC_ChangeAxisUse (Change Axis Use) instruction is used to enable and disable axes. The
MC_ChangeAxisUse instruction changes the setting of the Axis Use axis parameter of the specified
axis between Used Axis and Unused Axis. If you cycle the power supply to the Controller after this
instruction is executed, the settings will return to the settings from before instruction execution. Refer to
the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508-E1-05 or later) for the
detailed specifications of the MC_ChangeAxisUse instruction.
You can check the values of system-defined variables to get the current status of EtherCAT slaves and
axes. The system-defined variables for these are given below.
The _EC_DisableSlavTbl[] (Disabled Slave Table) system-defined variable tells whether each EtherCAT
slave is currently disabled. The node address is specified for the array subscript. The meanings of the
values in _EC_DisableSlavTbl[] (Disabled Slave Table) are given below.
The _MC_AX[ ].Cfg.AxEnable (Axis Use) system-defined variable tells whether each axis is defined
and whether each axis is used. The axis number is specified for the array subscript. The meanings of
the values in _MC_AX[].Cfg.AxEnable (Axis Use) are given below.
EC_ChangeEnableSetting Instruction
MC_ChangeAxisUse Instruction
A-9-3 System-defined Variables That Indicate EtherCAT Slave or Axis
Status
Accessed status System-defined variable name
EtherCAT slaves _EC_DisableSlavTbl[] (Disabled Slave Table)
Axes
_MC_AX[].Cfg.AxEnable (Axis Use)
_EC_DisableSlavTbl[] (Disabled Slave Table)
Value Meaning
TRUE The EtherCAT slave with the specified node address is disabled.
FALSE
The EtherCAT slave with the specified node address is enabled.
_MC_AX[ ].Cfg.AxEnable (Axis Use)
Value Meaning
0: _mcNoneAxis The specified axis is an undefined axis.
1: _mcUnusedAxis The specified axis is an unused axis.
2: _mcUsedAxis The specified axis is a used axis.

Omron NJ Series Specifications

General

Brand	Omron
Model	NJ Series
Category	Controller
Language	English