MICRO-EPSILON optoNCDT 2300 - A 7.2.2 Ethercat Services; A 7.2.3 Addressing and Fmmus

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Appendix| EtherCAT
optoNCDT 2300
A 7.2.2 EtherCAT® Services
In EtherCAT® services for the reading and writing of data are specified in the physical memory of the slave hardware. The following
EtherCAT® services are supported by the slave hardware:
- APRD (Autoincrement physical read, Reading of a physical area with auto-increment addressing)
- APWR (Autoincrement physical write, Writing of a physical area with auto-increment addressing)
- APRW (Autoincrement physical read write, Reading and writing of a physical area with auto-increment addressing)
- FPRD (Configured address read, Reading of a physical area with fixed addressing)
- FPWR (Configured address write, Writing of a physical area with fixed addressing)
- FPRW (Configured address read write, Reading and writing of a physical area with fixed addressing)
- BRD (Broadcast Read, Broadcast Reading of a physical area for all slaves)
- BWR (Broadcast Write, Broadcast Writing of a physical area for all slaves)
- LRD (Logical read, Reading of a logical storage area)
- LWR (Logical write, Writing of a logical storage area)
- LRW (Logical read write, Reading and writing of a logical storage area)
- ARMW (Auto increment physical read multiple write, Reading of a physical area with auto-increment addressing, multiple writing)
- FRMW (Configured address read multiple write, Reading of a physical area with fixed addressing, multiple writing)
A 7.2.3 Addressing and FMMUs
- In order to address a slave in the EtherCAT® system, various methods from the master can be used. The optoNCDT 2300 supports
as full slave:
- Position addressing
The slave device is addressed via its physical position in the EtherCAT® segment.
The services used for this are APRD, APWR, APRW.
- Node addressing
The slave device is addressed via a configured node address, which was assigned by the master during the commissioning phase.
The services used for this are FPRD, FPWR and FPRW.
- Logical addressing
The slaves are not addressed individually; instead, a segment of the segment-wide logical 4-GB address is addressed. This seg-
ment can be used by a number of slaves.
The services used for this are LRD, LWR and LRW.