Lenze E84DGFCT - Manual (Page 34)

Communication manual 8400 motec EtherCAT®
Data transfer
EtherCAT datagrams
34
L
EDS84DMOTECAT EN 2.1 - 11/2012
7.2 EtherCAT datagrams
EtherCAT datagrams have the following structure:
EtherCAT command header
The EtherCAT command header contains the following information:
 Command to be executed
 Addressing information
 Length of the data area (Data)
 Interrupt field
Data
The data area contains the data of the command to be executed.
WKC
The working counter is evaluated by the master for monitoring the execution of the
command.
EtherCAT
Command header
Data WKC
10 bytes Max. 1486 bytes 2 bytes