Beckhoff EtherCAT Technology Section I Bedienungsanleitung PDF herunterladen (Seite 30)

EtherCAT Protocol

I-10 Slave Controller – Technology

Table 6: EtherCAT Command Types

CMD

Abbr.

Name

Description

0

NOP

No Operation

Slave ignores command

1

APRD

Auto Increment Read

Slave increments address. Slave puts read data

into the EtherCAT datagram if received address is

zero.

2

APWR

Auto Increment Write

Slave increments address. Slave writes data into

memory location if received address is zero.

3

APRW

Auto Increment Read Write

Slave increments address. Slave puts read data

into the EtherCAT datagram and writes the data

into the same memory location if received address

is zero.

4

FPRD

Configured Address Read

Slave puts read data into the EtherCAT datagram

if address matches with one of its configured

addresses

5

FPWR

Configured Address Write

Slave writes data into memory location if address

matches with one of its configured addresses

6

FPRW

Configured Address Read

Write

Slave puts read data into the EtherCAT datagram

and writes data into the same memory location if

address matches with one of its configured

addresses

7

BRD

Broadcast Read

All slaves put logical OR of data of the memory

area and data of the EtherCAT datagram into the

EtherCAT datagram. All slaves increment position

field.

8

BWR

Broadcast Write

All slaves write data into memory location. All

slaves increment position field.

9

BRW

Broadcast Read Write

All slaves put logical OR of data of the memory

area and data of the EtherCAT datagram into the

EtherCAT datagram, and write data into memory

location. BRW is typically not used. All slaves

increment position field.

10

LRD

Logical Memory Read

Slave puts read data into the EtherCAT datagram

if received address matches with one of the

configured FMMU areas for reading.

11

LWR

Logical Memory Write

Slaves writes data to into memory location if

received address matches with one of the

configured FMMU areas for writing.

12

LRW

Logical Memory Read Write

Slave puts read data into the EtherCAT datagram

if received address matches with one of the

configured FMMU areas for reading. Slaves writes

data to into memory location if received address

matches with one of the configured FMMU areas

for writing.

13

ARMW

Auto Increment Read

Multiple Write

Slave increments address. Slave puts read data

into the EtherCAT datagram if received address is

zero, otherwise slave writes the data into memory

location.

14

FRMW

Configured Read Multiple

Write

Slave puts read data into the EtherCAT datagram

if address matches with one of its configured

addresses, otherwise slave writes the data into

memory location.

15-255

reserved

1 2 ... 25 26 27 28 29 30 31 32 33 34 35 ... 115 116

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