Directive (device command) to perform a read of the internal registers of an ethercat device using an absolute address.
Syntax |
ECAT_FPRD nEt adp ado [len] [-TO microSec] [-BF] [-U8|-U16|-U32] |
|---|---|
nEt |
Number of the Ethernet port whose information is wanted |
adp |
Physical address associated with the node (see "physical address" below) |
ado |
Address of the register to be read on the device |
len |
Number of bytes to be read - if omitted assume length equal to 2. (optional) |
-TO microsec |
Timeout waiting for response - if omitted, the value 500000 is assumed. (optional) |
-BF |
Forces the use of the data support buffer. (optional) |
-U8 |
Byte visualization (defaults if len = 1 or different from 2 and 4). (optional) |
-U16 |
Word visualization (default if len = 2). (optional) |
-U32 |
Dword visualization (default if len = 4). (optional) |
Notes |
Physical Address
There are two ways to figure out the physical address associated with the node:
From the RFBCED editor, by pressing twice on the indicated device, under "General" (see EtherCAT communication for more details).
From the shell, through the command "fview /proc/bus/ecat/ethX/master/info" the addresses of all devices in the ECAT line are present (see EtherCAT diagnostics for more details).
Example
Read from ETH port 1, device physical address 1002, register address 0x0110, 4 bytes, word display.
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