Directive (device command) to perform writing of the internal registers of an ethercat device using an incremental address.
Syntax |
ECAT_APWR nEt adp ado v1 [, v2, ... , vn] [-TO microSec] [-BF] [-X8 | -X16 | -X32] |
|---|---|
nEt |
Number of the Ethernet ports whose information is wanted |
adp |
Incremental address (0 first device, -1 second device -2 third device and so on, read Note) |
ado |
Address of the register in which to write to the device |
v1 |
Values to write. Control over the value entered depends on the type of data selected |
v2, ... , vn |
Additional values to be written. (optional) |
-TO microsec |
Timeout waiting for response - in case of omission the value 500000 is assumed. (optional) |
-BF |
Forces the use of the data support buffer. (optional) |
-X8 |
Data taken as bytes (allowed values -128 to 255). (optional) |
-X16 |
Data taken as words (allowed values -32768 to 65535). X16 is the default size. (optional) |
-X32 |
Data taken as dword (allowed values -2147483648 to 4294967295). (optional) |
Notes |
Note: The incremental address refers to the PHYSICAL location of the devices in the EtherCAT line, so by selecting 0 as the address I refer to the device connected directly to the master, with -1 the one connected immediately after, and so on.
Example
Writing value 0x4 from ETH port 1, second device (slave) connected to the line, register address 0x0120
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