Hiwin E1 Series - WKC (Working Counter)

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication
2-6 HIWIN MIKROSYSTEM Corp.
MD08UE01-1812
2.3.2 WKC (Working Counter)
Working Counter (WKC) is a 16-bit field placed at the end of each EtherCAT datagram. The addressed
slave increases WKC based on Table 2.3.2.1 for the master to check if the number of nodes of the
corresponding EtherCAT PDU is in line with expectations.
Table 2.3.2.1
Command Data type Increment
Read
Fail
0
Succeed
+1
Write
Fail
0
Succeed
+1
Read write
Fail
0
Read succeed +1
Write succeed
+2
Read write succeed
+3