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5 Setting Up EtherCAT Communications with the Sysmac Studio
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
5-4 EtherCAT Master and Slave Parameter Settings
5
5-4-2 Setting EtherCAT Slaves
The Edit PDO Map Settings Window will appear. Edit the allocated data as required.
3
Select the output data (RxPDO) and input data (TxPDO) in the PDO Map.
You can add or delete the PDOs with Editable Flags as entries for the objects to use for the
slaves. Refer to A-3-4 Editing PDO Entry Tables for details.
4
Click the OK Button.
Relation between Enable/Disable Settings and Instruction Settings
The following table gives the relation between the enable/disable setting of an EtherCAT slave and
the results of instruction execution.
*1 Even if a slave physically exits, it cannot be enabled or disabled if there are any of the following errors.
• If there is a Network Configuration Information Error or Network Configuration Error in the master.
• If the slave is disconnected from the network or if it has a Slave Initialization Error, Process Data Communi-
cations Error, Slave Application Error, or EtherCAT Frame Not Received error.
*2 If a slave is disabled (either with or without a physical slave), you cannot disconnect the slaves.
Precautions for Correct UsePrecautions for Correct Use
If you use the special instruction to change the enable/disable setting of a slave, turning OFF the
power supply to the master will discard the change and revert the setting to those set from Sys-
mac Studio. To retain the changed setting, you must change the setting from the Sysmac Studio
and then transfer the network configuration information to the CPU Unit.
EtherCAT Slave Enable/Disable Settings
EtherCAT slave setting Instruction setting Result
Enable Enable Enabled (normal end)
Disable Disabled
Disabled with physical slaves
*1, *2
Enable Enabled
Disable Disabled (normal end)
Disabled with no physical slave, or
disconnected
Enable or disable Error (error end)
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