Chapter 8 Motion Control Function
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. The designated address value at Adp is ignored, and Wkc increase by 1due to all slaves that performed
normal read operation
(5) Value and Wkc is displayed as 0 when the motion function block is executed. When the execution is completed (Done
output is on), the read data value is displayed at Value, and the Working Counter value is displayed at Wkc.
(6) Wkc stands for Working Counter. If data is successfully written 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 reading operation.
(7) After the execution of ESC read command, if normal data read operation is executed from the designated slave device,
Doneoutput is on.
(8) ESC read command and ESC write command cannot be simultaneously executed. If they are executed at the same time,
the command of the program last executed is executed, and an error (0x1021) occurs in the preceding command.
(9) Function block
LS_ReadEsc
Adp
Ado
Done BOOL
UINT
UINT
BOOL Execute
UINT Length
Busy BOOL
Error BOOL
ErrorID WORD
UINT EcatCmd Value UDINT
Wkc UINT
(10) In the following cases, ESC reading cannot be performed due to errors, properly.
1) No slave device is connected to module (Error Code: 0x0F09)
2) Adp setting value is outside the range (Error Code: 0x0F60)
3) Length setting value is outside the range (Error Code: 0x0F61)
4) EcatCmd setting value is outside the range (Error Code: 0x0F62)
5) No response to ESC read command (Error Code: 0x0F63)
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