Chapter 8 Motion Control Function
2. ESC reading
(1) This function reads data in ESC of the slave devices connected via network.
(2) Adp(Address position) is designating the address of the EtherCAT slave device. The following values can be set
depending on the EcatCmd setting. If EcatCmd setting is 7(BRD), Adp input value is ignored
0x0000: The first slave connected
0xFFFF: The second slave connected
0xFFFE: The third slave connected
:
0xFFDD: 36th slave connected
1001 ~ 1032: 1 Axis ~ 32 Axis
1033 ~ 1036: 33 Axis IO ~ 36 Axis IO
(3) In Length, values ranging from 1 to 4 can be entered, which means 1-4 bytes.
(4) At EcatCmd, the type of command to use when reading ESC (EtherCAT Slave Controller) is specified. The following
three commands can be used:
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. The slave device receiving Adp with 0 value will read the 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, reading 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, reading is performed because the Adp value of the first slave value
increased by 1 to 0. The Adp values depending on the slave device connection order are as follows
The first slave connected
The second slave connected
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 the master are as follows.
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