BECKHOFF EtherCAT Registers Section II - Manual (Page 42)

PDI Configuration (0x0150:0x0153)
II-30 Slave Controller – Register Description
3.28.2 PDI SPI Slave Configuration
Table 35: Register PDI SPI Slave Configuration (0x0150)
ESC20 ET1100 ET1200 IP Core
[3:2], [7:6] [7:6] [7:6] [7:6]
Bit Description ECAT PDI Reset Value
1:0 SPI mode:
00: SPI mode 0
01: SPI mode 1
10: SPI mode 2
11: SPI mode 3
NOTE: SPI mode 3 is recommended for Slave
Sample Code
NOTE: SPI status flag is not available in SPI
modes 0 and 2 with normal data out sample.
r/- r/- IP Core: Depends on
configuration
Others: 0, later
EEPROM ADR 0x0001
3:2 SPI_IRQ output driver/polarity:
00: Push-Pull active low
01: Open Drain (active low)
10: Push-Pull active high
11: Open Source (active high) r/- r/-
4 SPI_SEL polarity:
0:
Active low
1: Active high
r/- r/-
5 Data Out sample mode:
0:
Normal sample (SPI_DO and SPI_DI
are sampled at the same SPI_CLK
edge)
1: Late sample (SPI_DO and SPI_DI are
sampled at different SPI_CLK edges)
r/- r/-
7:6 Reserved, set EEPROM value 0 r/- r/-
Table Register Sync/Latch[1:0] PDI Configuration (0x0151) moved to chapter 3.28.7
Table 36: Register PDI SPI Slave extended configuration (0x0152:0x0153)
ESC20 ET1100 ET1200 IP Core
[15:0] [15:0] [15:0]
Bit Description ECAT PDI Reset Value
15:0 Reserved, set EEPROM value 0 r/- r/- IP Core: 0
Others: 0, later
EEPROM ADR 0x0003