This page describes the limitations that must be considered by a master EtherCAT to interface properly the device:


LRW access to non-interleaved input and output process data of multiples slaves does not work. SOEM accesses slaves in LRW mode this way.

  • Use LRD/LWR datagram to access process data
  • Use LRW datagram to access process data
    • Input and output overlaid on the same logical address range (TwinCAT usage)
    • Input and output of a given slave back to back in logical address space