2 esc register availability, Esc register availability, Table 2: esc register availability – BECKHOFF EtherCAT Registers Section II User Manual
Page 19
ESC Register Availability
Slave Controller
– Register Description
II-7
2
ESC Register Availability
Table 2: ESC Register Availability
Address
Length
(Byte)
Description
E
T12
0
0
E
T11
0
0
IP Core
V3.0.2/
V3.00c
E
S
C
2
0
0x0000
1
Type
x
x
x
x
0x0001
1
Revision
x
x
x
x
0x0002:0x0003
2
Build
x
x
x
x
0x0004
1
FMMUs supported
x
x
x
x
0x0005
1
SyncManagers supported
x
x
x
x
0x0006
1
RAM Size
x
x
x
x
0x0007
1
Port Descriptor
x
x
x
-
0x0008:0x0009
2
ESC Features supported
x
x
x
x
0x0010:0x0011
2
Configured Station Address
x
x
x
x
0x0012:0x0013
2
Configured Station Alias
x
x
x
x
0x0020
1
Write Register Enable
x
x
c
x
0x0021
1
Write Register Protection
x
x
c
x
0x0030
1
ESC Write Enable
x
x
c
x
0x0031
1
ESC Write Protection
x
x
c
x
0x0040
1
ESC Reset ECAT
x
x
c
-
0x0041
1
ESC Reset PDI
-
-
c
-
0x0100:0x0101
2
ESC DL Control
x
x
x
x
0x0102:0x0103
2
Extended ESC DL Control
x
x
x
x
0x0108:0x0109
2
Physical Read/Write Offset
x
x
c
x
0x0110:0x0111
2
ESC DL Status
x
x
x
x
0x0120
5 bits
[4:0]
AL Control
x
x
x
x
0x0120:0x0121
2
AL Control
x
x
x
-
0x0130
5 bits
[4:0]
AL Status
x
x
x
x
0x0130:0x0131
2
AL Status
x
x
x
-
0x0134:0x0135
2
AL Status Code
x
x
c
x
0x0138
1
RUN LED Override
-
-
c
-
0x0139
1
ERR LED Override
-
-
c
-
0x0140
1
PDI Control
x
x
x
x
0x0141
1
ESC Configuration
x
x
x
x
0x014E:0x014F
2
PDI Information
-
-
c
-
0x0150
1
PDI Configuration
x
x
x
x
0x0151
1
DC Sync/Latch Configuration
x
x
x
x
0x0152:0x0153
2
Extended PDI Configuration
x
x
x
x
0x0200:0x0201
2
ECAT Event Mask
x
x
x
x
0x0204:0x0207
4
PDI AL Event Mask
x
x
r/c
x
0x0210:0x0211
2
ECAT Event Request
x
x
x
x
0x0220:0x0223
4
AL Event Request
x
x
x
x
0x0300:0x0307
4x2
Rx Error Counter[3:0]
x
x
x
x