Chapter 8 Motion Control Function
3. ESC writing
(1) This function writes data in ESC of the slave devices connected via network.
(2) Adp input specifies the EtherCAT slave device address, and the following values can be set depending on EcatCmd
settings. If EcatCmd setting is 8(BWR), 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) Adp input specifies the EtherCAT slave device address, and the following values can be set depending on EcatCmd
settings. If EcatCmd setting is 8(BWR), Adp input value is ignored.
(4) At EcatCmd, the type of command to use when readingESC (EtherCAT Slave Controller) is specified. The following
three read commands can be used:
1) 2- APWR( Auto Increment Physical Write)
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 2, 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 0, only increasing Adp by
1. When the second slave device receives EtherCAT frame, writing 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) 5 – FPWR(Configured Address Physical Write)
This order is used to write 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 writes data of the size designated by Length in the Ado area. The
Station Address of slave device set by the master is as follows.
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