BECKHOFF EtherCAT Registers Section II - Manual (Page 9)

TABLES
Slave Controller – Register Description II-IX
TABLES
Table 1: ESC address space ................................................................................................................... 1
Table 2: ESC Register Availability ........................................................................................................... 7
Table 3: ESC Register Availability Legend .............................................................................................. 9
Table 4: Register Type (0x0000) ........................................................................................................... 10
Table 5: Register Revision (0x0001) ..................................................................................................... 10
Table 6: Register Build (0x0002:0x0003) .............................................................................................. 10
Table 7: Register FMMUs supported (0x0004) ..................................................................................... 10
Table 8: Register SyncManagers supported (0x0005) .......................................................................... 11
Table 9: Register RAM Size (0x0006) ................................................................................................... 11
Table 10: Register Port Descriptor (0x0007) ......................................................................................... 11
Table 11: Register ESC Features supported (0x0008:0x0009) ............................................................ 12
Table 12: Register Configured Station Address (0x0010:0x0011) ........................................................ 13
Table 13: Register Configured Station Alias (0x0012:0x0013) ............................................................. 13
Table 14: Register Write Register Enable (0x0020) .............................................................................. 13
Table 15: Register Write Register Protection (0x0021) ......................................................................... 13
Table 16: Register ESC Write Enable (0x0030) .................................................................................... 14
Table 17: Register ESC Write Protection (0x0031) ............................................................................... 14
Table 18: Register ESC Reset ECAT (0x0040) .................................................................................... 15
Table 19: Register ESC Reset PDI (0x0041) ........................................................................................ 15
Table 20: Register ESC DL Control (0x0100:0x0103) .......................................................................... 16
Table 21: Register Physical Read/Write Offset (0x0108:0x0109) ......................................................... 18
Table 22: Register ESC DL Status (0x0110:0x0111) ............................................................................ 19
Table 23: Decoding port state in ESC DL Status register 0x0111 (typical modes only) ....................... 20
Table 24: Register AL Control (0x0120:0x0121) ................................................................................... 21
Table 25: Register AL Status (0x0130:0x0131) .................................................................................... 22
Table 26: Register AL Status Code (0x0134:0x0135) ........................................................................... 22
Table 27: Register RUN LED Override (0x0138) .................................................................................. 23
Table 28: Register ERR LED Override (0x0139) .................................................................................. 23
Table 29: Register PDI Control (0x0140) .............................................................................................. 24
Table 30: Register ESC Configuration (0x0141) ................................................................................... 25
Table 31: Register PDI Information (0x014E:0x014F) .......................................................................... 26
Table 32: PDI Configuration Register overview .................................................................................... 27
Table 33: Register PDI Digital I/O configuration (0x0150) .................................................................... 28
Table 34: Register PDI Digital I/O extended configuration (0x0152:0x0153) ....................................... 29
Table 35: Register PDI SPI Slave Configuration (0x0150) ................................................................... 30
Table 36: Register PDI SPI Slave extended configuration (0x0152:0x0153) ....................................... 30
Table 37: Register PDI asynchronous Microcontroller Configuration (0x0150) .................................... 31
Table 38: Register PDI Asynchronous Microcontroller extended Configuration (0x0152:0x0153) ....... 31
Table 39: Register PDI Synchronous Microcontroller Configuration (0x0150) ..................................... 32
Table 40: Register PDI Synchronous Microcontroller extended Configuration (0x0152:0x0153) ......... 33
Table 41: Register EtherCAT Bridge configuration (0x0150) ................................................................ 34
Table 42: Register EtherCAT Bridge extended configuration (0x0152:0x0153) ................................... 34
Table 43: Register PDI On-chip bus configuration (0x0150) ................................................................. 35
Table 44: Register PDI On-chip bus extended configuration (0x0152:0x0153) .................................... 35
Table 45: Register Sync/Latch[1:0] PDI Configuration (0x0151) .......................................................... 36
Table 46: Register ECAT Event Mask (0x0200:0x0201) ...................................................................... 37
Table 47: Register PDI AL Event Mask (0x0204:0x0207) ..................................................................... 37
Table 48: Register ECAT Event Request (0x0210:0x0211) .................................................................. 38
Table 49: Register AL Event Request (0x0220:0x0223) ....................................................................... 39
Table 50: Register RX Error Counter Port y (0x0300+y*2:0x0301+y*2) ............................................... 41
Table 51: Register Forwarded RX Error Counter Port y (0x0308+y) .................................................... 41
Table 52: Register ECAT Processing Unit Error Counter (0x030C) ..................................................... 41
Table 53: Register PDI Error Counter (0x030D) ................................................................................... 42
Table 54: Register SPI PDI Error Code (0x030E) ................................................................................. 42
Table 55: Register Microcontroller PDI Error Code (0x030E) ............................................................... 42
Table 56: Register Lost Link Counter Port y (0x0310+y) ...................................................................... 43
Table 57: Register Watchdog Divider (0x0400:0x0401) ....................................................................... 44
Table 58: Register Watchdog Time PDI (0x0410:0x0411) .................................................................... 44
Table 59: Register Watchdog Time Process Data (0x0420:0x0421) .................................................... 44
Table 60: Register Watchdog Status Process Data (0x0440:0x0441) .................................................. 45