Programming - Hitachi MICRO-EHV+ Applications Manual

3.16.5 Programming

I/O addresses of slaves are displayed in "EtherCAT I/O Mapping" tab as below. Enter any variable names in this
table and create your program as same way as other standard I/Os.
N o t e
When PLC is powered up with RUN switch position in RUN, I/O refresh of EtherCAT slaves starts about a few
second (depending on slave units) after I/O refresh of standard I/O started because of configuration between
EtherCAT master and all slaves as below. If this delay is not accepted, use a special bit register
"EtherCAT_Master.xConfigFinished", which turns on when EtherCAT configuration is finished. The below codes
are sample program in ST.
Power ON
RUN
RUN switch
STOP
ON
RUN LED
OFF
I/O refresh (std. I/O)
I/O refresh (EtherCAT)
EtherCAT_Master.xConfigFinished
Sample program
Program under this code is not executed while
EtherCAT_Master.xConfigFinished is FALSE.
Configuration between master and slaves
3 – 51
Chapter 3 Programming
EtherCAT cycle time