Chapter 8 Motion Control Function
3) 8 – BWR(Broadcast Write)
All connected slave devices write data of the size set by Length in the Ado area. The designated address value at
Adp is ignored, and Wkc increase by 1 due to all slaves that performed normal write operation.
(5) Wkc value is displayed as 0 when the motion function block is executed, and the Working Counter value is
displayed when execution is completed (Done output is on). Wkc increases by 1through each slave device
specified in EcatCmd and Adp.
(6) Wkc stands for Working Counter. If data is successfully written at the designated slave device, it increases by 1. If
EcatCmd is 8(BWR), it increases by 1 through each slave device that performed normal write operation.
(7) After the execution of ESC write command, if normal data write operation is executed in the specified slave device,
Done output is on.
(8) Slave devices use ESC to perform EtherCAT communication. Therefore, changing ESC register values while
executing connection/disconnection command or during normal EtherCAT communication may prevent the slave
device from maintaining existing motions or cause communication errors. Therefore, using the following ESC
Register causes an error without executing write motion. (Error Code: 0x0F74)
Configured Station Address
※ 0x0120 (AL Control) register can be written after the connection of normal communication, not the execution of
connection/disconnection command.
(9) 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 for the preceding
command
(10) Motion function block
LS_WriteEsc
Adp
Ado
Done BOOL
UINT
UINT
BOOL Execute
UINT Length
Busy BOOL
Error BOOL
ErrorID WORD
UINT EcatCmd Wkc UINT
UDINT Value
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