Chapter 6 Motion Function Blocks
1) 1 - APRD (Auto Increment Physical Read)
This command is used when reading the slave device data following the order of physical connection before normal
communication connection by the master. A slave device receiving Adp with 0 value will read data of the size designated
by Length. Adp of each slave device increases when EtherCAT frame is received. . For example, if EcatCmd is 1, and
Adp is set to 0xFFFF, when executing ESC read function block, read motion is not performed because the Adp at the
time of receiving EtherCAT frame from the first slave device is not 1, only increasing Adp by 1. When the second slve
device receives EtherCAT frame, read motion is performed because the Adp value of the first slave value increased by 1
to 0. The Adp setting values depending on the slave device connection order are as follows.
Slave controller Setting value
The first slave connected 0
The second slave connected 0xFFFF
: :
64th slave connected 0xFFC1
2) 4 - FPRD (Configured Address Physical Read)
This order is used to read the data by designating the station address of the slave device after normal communication
connection by the master. If the Station Address of the slave device set by EtherCAT master matches the transmitted
Adp, the slave device reads data of the size designated by Length in the Ado area. The Station Address of slave device
set by master can be checked in slave information dialog box when the slave is added.
3) 7 – BRD (Broadcast Read)
All connected slave devices read data of the size set by Length in the Ado area, and saves the result after Bitwise-OR
(OR operation of each bit). The designated address value at Adp is ignored, and Wkc increase by 1due to all slaves that
performed normal read operation
(6) Wkc stands for Working Counter. If data is successfully read at the designated slave device, it increases by 1. If EcatCmd is
7(BRD), it increases by 1 due to all slaves that performed normal read operation.
(7) After the execution of ESC read command, if normal data read operation is executed from the designated slave device, Done
output is on.
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