BECKHOFF EtherCAT Registers Section II - Manual (Page 24)

ESC Features supported (0x0008:0x0009)
II-12 Slave Controller – Register Description
3.8 ESC Features supported (0x0008:0x0009)
Table 11: Register ESC Features supported (0x0008:0x0009)
ESC20 ET1100 ET1200 IP Core
[8]
V2.2.0/
V2.02a
Bit Description ECAT PDI Reset Value
0 FMMU Operation:
0:
Bit oriented
1: Byte oriented
r/- r/- 0
1 Reserved r/- r/- 0
2 Distributed Clocks:
0:
Not available
1: Available
r/- r/- ESC20: 1
IP Core: depends on
configuration
ET1100: 1
ET1200: 1
3 Distributed Clocks (width):
0:
32 bit
1: 64 bit
r/- r/- ET1100: 1
ET1200: 1
IP Core: depends on
configuration
Others : 0
4 Low Jitter EBUS:
0:
Not available, standard jitter
1: Available, jitter minimized
r/- r/- ET1100: 1
ET1200: 1
Others : 0
5 Enhanced Link Detection EBUS:
0:
Not available
1: Available
r/- r/- ET1100: 1
ET1200: 1
Others : 0
6 Enhanced Link Detection MII:
0:
Not available
1: Available
r/- r/- ET1100: 1
ET1200: 1
Others : 0
7 Separate Handling of FCS Errors:
0:
Not supported
1: Supported, frames with wrong FCS and
additional nibble will be counted
separately in Forwarded RX Error
Counter
r/- r/- IP Core: 1
ET1100: 1
ET1200: 1
Others : 0
8 Enhanced DC SYNC Activation
0:
Not available
1: Available
NOTE: This feature refers to registers 0x981[7:3],
0x0984
r/- r/- IP Core:
depends on version
Others : 0
9 EtherCAT LRW command support:
0:
Supported
1: Not supported
r/- r/- 0
10 EtherCAT read/write command support
(BRW, APRW, FPRW):
0:
Supported
1: Not supported
r/- r/- 0
11 Fixed FMMU/SyncManager configuration
0:
Variable configuration
1: Fixed configuration (refer to
documentation of supporting ESCs)
r/- r/- 0
15:12 Reserved r/- r/- 0