BECKHOFF EtherCAT Technology Section I - Manual (Page 31)

EtherCAT Protocol
Slave Controller – Technology I-11
Table 7: EtherCAT Command Details
CMD High
Addr. In High
Addr.
Out Low
Addr. Address Match Data
In Data
Out WKC
NOP untouched none untouched
APRD Position Pos.+1 Offset ADP=0 - Read +0/1
APWR Position Pos.+1 Offset ADP=0 Write +0/1
APRW Position Pos.+1 Offset ADP=0 Write Read +0/1/2/3
FPRD Address Offset ADP=conf.
station addr. - Read +0/1
FPWR Address Offset ADP=conf.
station addr. Write +0/1
FPRW Address Offset ADP=conf.
station addr. Write Read +0/1/2/3
BRD High Add.
In+1 Offset all Data In OR
Read
+0/1
BWR High Add.
In+1 Offset all Write +0/1
BRW High Add.
In+1 Offset all Write Data In OR
Read
+0/1/2/3
LRD Logical address FMMU - (Read AND
bitmask
1 )
OR
(Data In
AND NOT
bit_mask
1 )
+0/1
LWR Logical address FMMU Write +0/1
LRW Logical address FMMU Write (Read AND
bit_mask
1 )
OR
(Data In
AND NOT
bit_mask
1 )
+0/1/2/3
ARMW Position Pos.+1 Offset Read: ADP=0 - Read +0/1
Write: ADP/=0 Write +0/1
FRMW Address Offset Read: ADP=
conf. station
address./alias - Read +0/1
Write: ADP/=
conf. station
address./alias Write +0/1
NOTE: Working Counter (WKC) increment depends on address match
1 bit_mask depends on FMMU configuration if bit-wise mapping is used: only masked bits are actually addressed
by the logical read/write command.