BECKHOFF EtherCAT IP Core for Xilinx FPGAs v2.04e User Manual
Page 28
Features and Registers
III-16
Slave Controller
– IP Core for Xilinx FPGAs
Address
Length
(Byte)
Description
IP Core
V2.4.0-V2.4.4/
V2.04a-V2.04e
Register set
S
M
L
IP Core
V2.3.0-V2.3.2/
V2.03a-V2.03d
Register set
S
M
L
IP Core
V2.2.1/V2.2.0/
V2.02a
Register set
S
M
L
0x0140
1
PDI Control
x
x
x
x
x
x
x
x
x
0x0141
1
ESC Configuration
x
x
x
x
x
x
x
x
x
0x014E:0x014F
2
PDI Information
-
-
-
-
-
-
-
-
-
0x0150
1
PDI Configuration
x
x
x
x
x
x
x
x
x
0x0151
1
DC Sync/Latch
Configuration
x
x
x
x
x
x
x
x
x
0x0152:0x0153
2
Extended PDI
Configuration
x
x
x
x
x
x
x
x
x
0x0200:0x0201
2
ECAT Event Mask
x
x
x
c
c
x
c
c
x
0x0204:0x0207
4
PDI AL Event Mask
r/c
x
x
r/c
x
x
r/c
x
x
0x0210:0x0211
2
ECAT Event Request
x
x
x
x
x
x
x
x
x
0x0220:0x0223
4
AL Event Request
x
x
x
x
x
x
x
x
x
0x0300:0x0307
4x2
Rx Error Counter[3:0]
x
x
x
x
x
x
x
x
x
0x0308:0x030B
4x1
Forwarded Rx Error
counter[3:0]
x
x
x
x
x
x
x
x
x
0x030C
1
ECAT Processing
Unit Error Counter
c
c
x
c
c
x
c
c
x
0x030D
1
PDI Error Counter
c
c
x
c
c
x
c
c
x
0x030E
1
PDI Error Code
c
c
x
c
c
x
-
-
-
0x0310:0x0313
4x1
Lost Link
Counter[3:0]
c
x
x
c
x
x
c
x
x
0x0400:0x0401
2
Watchdog Divider
r/c
x
x
r/c
x
x
r/c
x
x
0x0410:0x0411
2
Watchdog Time PDI
c
x
x
c
x
x
c
x
x
0x0420:0x0421
2
Watchdog Time
Process Data
x
x
x
x
x
x
x
x
x
0x0440:0x0441
2
Watchdog Status
Process Data
x
x
x
x
x
x
x
x
x
0x0442
1
Watchdog Counter
Process Data
c
c
x
c
c
x
c
c
x
0x0443
1
Watchdog Counter
PDI
c
c
x
c
c
x
c
c
x
0x0500:0x050F
16
SII EEPROM
Interface
x
x
x
x
x
x
x
x
x
0x0510:0x0515
6
MII Management
Interface
c
c
c
c
c
c
c
c
c
0x0516:0x0517
2
MII Management
Access State
c
c
c
c
c
c
c
c
c
0x0518:0x051B
4
PHY Port Status[3:0]
c
c
c
c
c
c
c
c
c
0x0600:0x06FC
16x13
FMMU[15:0]
0-
8
0-
8
0-
8
0-
8
0-
8
0-
8
0-
8
0-
8
0-
8
0x0800:0x087F
16x8
SyncManager[15:0]
0-
8
0-
8
0-
8
0-
8
0-
8
0-
8
0-
8
0-
8
0-
8
0x0900:0x090F
4x4
DC
– Receive
Times[3:0]
rt
rt
rt
rt
rt
rt
rt
rt
rt
0x0910:0x0917
8
DC
– System Time
dc
dc
dc
dc
dc
dc
dc
dc
dc
0x0918:0x091F
8
DC
– Receive Time
EPU
dc
dc
dc
dc
dc
dc
dc
dc
dc