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Known limitations

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

DescriptionWorkaround

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

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