Omron NX102 series User Manual

6 Process Data Communications and SDO Communications
6-22
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
SDO communications are executed in the system service time of the NJ/NX-series CPU Unit. System
services are executed in the period between execution of all of the tasks.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on the execu-
tion timing of system services.
6-2-3 Execution Timing of SDO Communications
Execution condition
SDO parameter
Processing
Read data
Normal end
Error end
Variable Data type Initial value Comment
ST
IF ( (Trigger=TRUE) AND (DoSdoRead=FALSE) AND (_EC_MBXSlavTbl[1]=TRUE) ) THEN
DoSdoRead :=TRUE;
SdoObject.Index :=UINT#16#100A;
SdoObject.Subindex :=USINT#0;
SdoObject.IsCompleteAccess:=FALSE;
EC_CoESDORead_instance(
Execute:=FALSE,
ReadDat:=VersionInfo);
END_IF;
IF (DoSdoRead=TRUE) THEN
EC_CoESDORead_instance(
Execute :=TRUE,
NodeAdr :=UINT#1,
SdoObj :=SdoObject,
TimeOut :=UINT#20,
ReadDat:=VersionInfo);
IF (EC_CoESDORead_instance.Done=TRUE) THEN
NormalEnd:=NormalEnd+UINT#1;
ELSIF (EC_CoESDORead_instance.Error=TRUE) THEN
ErrorEnd :=ErrorEnd+UINT#1;
END_IF;
END_IF;
// Detect when Trigger changes to TRUE.
// Execute EC_CoESDORead instruction.
// Initialize instance.
// Dummy
// Node address 1
// SDO parameter
// Timeout time: 2.0 s
// Read data
// Processing after normal end
// Processing after error end
Trigger
SdoObject
DoSdoRead
VersionInfo
NormalEnd
ErrorEnd
EC_CoESDORead_instance
False
(Index:=0, Subindex:=0,
IsCompleteAccess:=False)
False
‘’
0
0
BOOL
_sSDO_ACCESS
BOOL
STRING[256]
UINT
UINT
EC_CoESDORead
_EC_MBXSlavTbl
ARRAY[1..192] OF BOOL
Constant
Internal
Variables
External
Variables
Variable Data type Comment
Message Communications Enabled Slave Table

Omron NX102 series Specifications

General

Brand	Omron
Model	NX102 series
Category	Controller
Language	English