BECKHOFF EtherCAT Registers Section II User Manual
BECKHOFF Equipment
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Version 2.7
Date:
2013-07-01
Hardware Data Sheet Section II
Slave Controller
Section I
– Technology
(Onli
Register overview and detailed
description
Section III
– Hardware Description
(Onli
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Table of contents
Document Outline
- Section II – Register Description
- 1 Address Space Overview
- 2 ESC Register Availability
- 3 Register description
- 3.1 Type (0x0000)
- 3.2 Revision (0x0001)
- 3.3 Build (0x0002:0x0003)
- 3.4 FMMUs supported (0x0004)
- 3.5 SyncManagers supported (0x0005)
- 3.6 RAM Size (0x0006)
- 3.7 Port Descriptor (0x0007)
- 3.8 ESC Features supported (0x0008:0x0009)
- 3.9 Configured Station Address (0x0010:0x0011)
- 3.10 Configured Station Alias (0x0012:0x0013)
- 3.11 Write Register Enable (0x0020)
- 3.12 Write Register Protection (0x0021)
- 3.13 ESC Write Enable (0x0030)
- 3.14 ESC Write Protection (0x0031)
- 3.15 ESC Reset ECAT (0x0040)
- 3.16 ESC Reset PDI (0x0041)
- 3.17 ESC DL Control (0x0100:0x0103)
- 3.18 Physical Read/Write Offset (0x0108:0x0109)
- 3.19 ESC DL Status (0x0110:0x0111)
- 3.20 AL Control (0x0120:0x0121)
- 3.21 AL Status (0x0130:0x0131)
- 3.22 AL Status Code (0x0134:0x0135)
- 3.23 RUN LED Override (0x0138)
- 3.24 ERR LED Override (0x0139)
- 3.25 PDI Control (0x0140)
- 3.26 ESC Configuration (0x0141)
- 3.27 PDI Information (0x014E:0x014F)
- 3.28 PDI Configuration (0x0150:0x0153)
- 3.28.1 PDI Digital I/O configuration
- 3.28.2 PDI SPI Slave Configuration
- 3.28.3 PDI 8/16Bit asynchronous Microcontroller configuration
- 3.28.4 PDI 8/16Bit synchronous Microcontroller configuration
- 3.28.5 EtherCAT Bridge (port 3)
- 3.28.6 PDI On-chip bus configuration
- 3.28.7 Sync/Latch[1:0] PDI Configuration
- 3.29 ECAT Event Mask (0x0200:0x0201)
- 3.30 PDI AL Event Mask (0x0204:0x0207)
- 3.31 ECAT Event Request (0x0210:0x0211)
- 3.32 AL Event Request (0x0220:0x0223)
- 3.33 RX Error Counter (0x0300:0x0307)
- 3.34 Forwarded RX Error Counter (0x0308:0x030B)
- 3.35 ECAT Processing Unit Error Counter (0x030C)
- 3.36 PDI Error Counter (0x030D)
- 3.37 PDI Error Code (0x030E)
- 3.38 Lost Link Counter (0x0310:0x0313)
- 3.39 Watchdog Divider (0x0400:0x0401)
- 3.40 Watchdog Time PDI (0x0410:0x0411)
- 3.41 Watchdog Time Process Data (0x0420:0x0421)
- 3.42 Watchdog Status Process Data (0x0440:0x0441)
- 3.43 Watchdog Counter Process Data (0x0442)
- 3.44 Watchdog Counter PDI (0x0443)
- 3.45 SII EEPROM Interface (0x0500:0x050F)
- 3.46 MII Management Interface (0x0510:0x0515)
- 3.47 FMMU (0x0600:0x06FF)
- 3.48 SyncManager (0x0800:0x087F)
- 3.49 Distributed Clocks (0x0900:0x09FF)
- 3.50 ESC specific registers (0x0E00:0x0EFF)
- 3.51 Digital I/O Output Data (0x0F00:0x0F03)
- 3.52 General Purpose Outputs (0x0F10:0x0F17)
- 3.53 General Purpose Inputs (0x0F18:0x0F1F)
- 3.54 User RAM (0x0F80:0x0FFF)
- 4 Process Data RAM (0x1000:0xFFFF)
- 5 Appendix