A-107
Appendices
NJ-series CPU Unit Software User’s Manual (W501)
A-9 Enable/Disable EtherCAT Slaves and Axes
App
A-9-4 Enabling/Disabling Execution of Program
There are certain programs associated with the EtherCAT slaves and axes, which are enabled or dis-
abled. These associated programs must be enabled or disabled as the EtherCAT slaves and axes are
enabled or disabled. To enable or disable the program, use the following instructions in the user program.
Refer to the NJ-series Instructions Reference Manual (Cat. No. W502-E1-10 or later) for the detailed
specifications of the PrgStart instruction and PrgStop instruction.
Precautions for Correct UsePrecautions for Correct Use
When you want to disable the program, first disable the EtherCAT slave and axis which the pro-
gram is associated with, and then disable the program.
A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required
to use the PrgStart and PrgStop instructions.
You can use the PrgStatus instruction to check the program is enabled or disabled that is associated
with the EtherCAT slave and axis that are enabled and disabled.
Refer to the NJ-series Instructions Reference Manual (Cat. No. W502-E1-10 or later) for the detailed
specifications of the PrgStatus instruction.
A CPU Unit with unit version 1.08 or later and the Sysmac Studio version 1.09 or higher are
required to use the PrgStatus instruction.
You can also enable/disable the EtherCAT slaves and axes and set to enable/disable the program at the
start of operation using the Sysmac Studio. Some applications require that EtherCAT slave status, axis
status and program status at the start of operation are set in advance with the Sysmac Studio.
Use the following procedure to enable an EtherCAT slave on the Sysmac Studio.
1
Right-click EtherCAT under Configurations and Setup and select Edit from the menu.
The EtherCAT Tab Page is displayed.
2
In the Toolbox, right-click the EtherCAT slave you want to connect and select
Insert
from the menu.
The selected EtherCAT slave is displayed under the EtherCAT master on the EtherCAT Tab
Page. Also, the Parameter Settings Area for the EtherCAT slave is displayed on the right side of
the EtherCAT Tab Page.
A-9-4 Enabling/Disabling Execution of Program
Function Instruction
Enable program PrgStart instruction
Disable program PrgStop instruction
A-9-5 Checking Enabled/Disabled Program
A-9-6 Settings with the Sysmac Studio
Enabling/Disabling EtherCAT Slaves with Sysmac Studio
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