ABB RECA-01, User Manual

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Communication
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EtherCAT® Services
EtherCAT® specifies services for reading and writing data from
the physical memory within the slaves. RECA-01 supports the
following EtherCAT® services:
• Auto increment physical read (APRD)
• Auto increment physical write (APWR)
• Auto increment physical read write (APRW)
• Configured address read (FPRD)
• Configured address write (FPWR)
• Configured address read write (FPRW)
• Broadcast read (BRD)
• Broadcast write (BWR)
• Logical read (LRD)
• Logical write (LWR)
• Logical read write (LRW)
• Auto increment physical read multiple write (ARMW)
• Configured address read multiple write (FRMW)
Addressing modes and FMMUs
There are a number of different addressing modes which can be
used by the master to communicate with EtherCAT® slaves. As a
full slave, RECA-01 supports the following addressing modes:
Position addressing
The slave device is addressed via its physical position in the
EtherCAT® segment.
Node addressing
The slave device is addressed via a configured node address
assigned by the master during the start-up phase.