EtherCAT Command Types

EtherCAT Command Types:

 

CMDAbbr.NameDescription0NOPNo OperationSlave ignores command1APRDAuto Increment ReadSlave increments address. Slave puts read data into the EtherCAT datagram if received address is zero.2APWRAuto Increment WriteSlave increments address. Slave writes data into memory location if received address is zero.3APRWAuto Increment Read WriteSlave increments address. Slave puts read data into the EtherCAT datagram and writes the data into the same memory location if received address is zero.4FPRDConfigured Address ReadSlave puts read data into the EtherCAT datagram if address matches with one of its configured addresses5FPWRConfigured Address WriteSlave writes data into memory location if address matches with one of its configured addresses6FPRWConfigured Address Read WriteSlave puts read data into the EtherCAT datagram and writes data into the same memory location if address matches with one of its configured addresses.7BRDBroadcast ReadAll slaves put logical OR of data of the memory area and data of the EtherCAT datagram into the EtherCAT datagram. All slaves increment position field.8BWRBroadcast WriteAll slaves write data into memory location. All slaves increment position field.9BRWBroadcast Read WriteAll slaves put logical OR of data of the memory area and data of the EtherCAT datagram into the EtherCAT datagram, and write data into memory location. BRW is typically not used. All slaves increment position field.10LRDLogical Memory ReadSlave puts read data into the EtherCAT datagram if received address matches with one of the configured FMMU areas for reading.11LWRLogical Memory WriteSlaves writes data to into memory location if received address matches with one of the configured FMMU areas for writing.12LRWLogical Memory Read WriteSlave puts read data into the EtherCAT datagram if received address matches with one of the configured FMMU areas for reading. Slaves writes data to into memory location if received address matches with one of the configured FMMU areas for writing.13ARMWAuto Increment Read Multiple WriteSlave increments address. Slave puts read data into the EtherCAT datagram if received address is zero, otherwise slave writes the data into memory location.14FRMWConfigured Read Multiple WriteSlave puts read data into the EtherCAT datagram if address matches with one of its configured addresses, otherwise slave writes the data into memory location.15-255　reserved