Hiwin E1 Series Command Manual

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication
HIWIN MIKROSYSTEM Corp. 2-5
MD08UE01-1812
2.3.1 EtherCAT commands
Table 2.3.1.1
CMD Abbr. Name Description
0
NOP
No operation
Slave ignores command.
1 APRD Auto increment read
Slave increases address. Slave puts read data into
EtherCAT datagram if received address is zero.
2 APWR Auto increment write
Slave increase
s address. Slave writes data into
memory location if received address is zero.
3 APRW Auto increment read write
Slave increases address. Slave puts read data into
EtherCAT datagram and writes data into the same
memory location if received address is zero.
4 FPRD Configured address read
Slave puts read data into EtherCAT datagram if
address matches one of its configured addresses.
5 FPWR Configured address write
Slave writes data into memory location if address
matches one of its configured addresses.
6 FPRW Configured address read write
Slave puts read data into EtherCAT datagram and
writes data into the same memory l
ocation if
address matches one of its configured addresses.
7 BRD Broadcast read
All slaves put logical OR of data of memory area
and data of EtherCAT datagram into EtherCAT
datagram. All slaves increase position field.
8 BWR Broadcast write
All slaves write data into memor
y location. All
slaves increase position field.
9 BRW Broadcast read write
All slaves put logical OR of data of memory area
and data of EtherCAT datagram into EtherCAT
datagram, and write data into memory location. All
slaves increase position field.
BRW is typically not
used.
10 LRD Logical memory read
Slave puts read data into EtherCAT datagram if
received address matches one of the configured
FMMU areas for reading.
11 LW R Logical memory write
Slaves writes data to into memory location if
received address matches one of the configured
FMMU areas for writing.
12 LRW Logical memory read write
Slave puts read data into EtherCAT datagram if
received address matches one of the configured
FMMU areas for reading. Slaves writes data into
memory location if received address matches one
of the configured FMMU areas for writing.
13 ARMW Auto increment read multiple write
Slave increases address. Slave puts read data into
EtherCAT datagram if received address is zero,
otherwise slave
writes the data into memory
location.
14 FRMW Configured address read multiple write
Slave puts read data into EtherCAT datagram if
address matches one of its configured addresses,
otherwise slave writes the data into memory
location.

Hiwin E1 Series Specifications

General

Brand	Hiwin
Model	E1 Series
Category	Servo Drives
Language	English