BECKHOFF EtherCAT Registers Section II - Manual (Page 6)

CONTENTS
II-VI Slave Controller – Register Description
CONTENTS
1 Address Space Overview 1
1.1 Scope of Section II 5
1.2 Reserved Registers/Reserved Register Bits 5
1.3 ESC Availability Tab Legend 6
2 ESC Register Availability 7
3 Register description 10
3.1 Type (0x0000) 10
3.2 Revision (0x0001) 10
3.3 Build (0x0002:0x0003) 10
3.4 FMMUs supported (0x0004) 10
3.5 SyncManagers supported (0x0005) 11
3.6 RAM Size (0x0006) 11
3.7 Port Descriptor (0x0007) 11
3.8 ESC Features supported (0x0008:0x0009) 12
3.9 Configured Station Address (0x0010:0x0011) 13
3.10 Configured Station Alias (0x0012:0x0013) 13
3.11 Write Register Enable (0x0020) 13
3.12 Write Register Protection (0x0021) 13
3.13 ESC Write Enable (0x0030) 14
3.14 ESC Write Protection (0x0031) 14
3.15 ESC Reset ECAT (0x0040) 15
3.16 ESC Reset PDI (0x0041) 15
3.17 ESC DL Control (0x0100:0x0103) 16
3.18 Physical Read/Write Offset (0x0108:0x0109) 18
3.19 ESC DL Status (0x0110:0x0111) 19
3.20 AL Control (0x0120:0x0121) 21
3.21 AL Status (0x0130:0x0131) 22
3.22 AL Status Code (0x0134:0x0135) 22
3.23 RUN LED Override (0x0138) 23
3.24 ERR LED Override (0x0139) 23
3.25 PDI Control (0x0140) 24
3.26 ESC Configuration (0x0141) 25
3.27 PDI Information (0x014E:0x014F) 26
3.28 PDI Configuration (0x0150:0x0153) 27
3.28.1 PDI Digital I/O configuration 28
3.28.2 PDI SPI Slave Configuration 30
3.28.3 PDI 8/16Bit asynchronous Microcontroller configuration 31
3.28.4 PDI 8/16Bit synchronous Microcontroller configuration 32
3.28.5 EtherCAT Bridge (port 3) 34