BECKHOFF ET1100 - Manual (Page 19)

Features and Registers
Slave Controller – ET1100 Hardware Description III-5
Feature
ET1100
-0003
SPI Slave PDI x
Max. SPI clock [MHz] 20
SPI modes configurable (0x0150[1:0]) x
SPI_IRQ driver configurable (0x0150[3:2]) x
SPI_SEL polarity configurable (0x0150.4) x
Data out sample mode configurable
(0x0150.5)
x
Busy signaling -
Wait State byte(s) x
Number of address extension byte(s) any
2/4 Byte SPI master support x
Extended error detection (read busy
violation)
x
SPI_IRQ delay x
Status indication x
EEPROM_
Loaded signal
x
Asynchronous µController PDI 8/16 bit
Extended µC configuration bits
0x0150[7:4], 0x0152:0x0153
x
ADR[15:13] available (000 b if not
available)
x
EEPROM_Loaded signal x
RD polarity configurable (0x0150.7) x
Read BUSY delay (0x0152.0) x
Write after first edge (0x0152.2) -
Synchronous µController PDI 8/16 bit
EEPROM_
Loaded signal
x
EtherCAT Bridge (port 3, EBUS/MII) -
General Purpose I/O x
GPO bits 0-16
GPI bits 0-16
GPIO available independent of PDI or port
configuration
-
GPIO available without PDI -
Concurrent access to GPO by ECAT and
PDI
x
ESC Information
Basic Information (0x0000:0x0006) x
Port Descriptor (0x0007) x
ESC Features supported (0x0008:0x0009) x
Extended ESC Feature Availability in User
RAM (0x0F80 ff.)
-
Write Protection (0x0020:0x0031) x
Data Link Layer Features
ECAT Reset (0x0040) x
PDI Reset (0x0041) -
ESC DL Control (0x0100:0x0103) bytes 4
EtherCAT only mode (0x0100.0) x
Temporary loop control (0x0100.1) x
FIFO Size configurable (0x0100[18:16]) x
Configured Station Address
(0x0010:0x0011)
x
Configured Station Alias (0x0100.24,
0x0012:0x0013)
x
Physical Read/Write Offset
(0x0108:0x0109)
x
Application Layer Features
Extended AL Control/Status bits
(0x0120[15:5], 0x0130[15:5])
x
AL Status Emulation (0x0140.8) x
AL Status Code (0x0134:0x0135) x
Feature
ET1100
-0003
Interrupts
ECAT Event Mask (0x0200:0x0201) x
AL Event Mask (0x0204:0x0207) x
ECAT Event Request (0x0210:0x0211) x
AL Event Request (0x0220:0x0223) x
SyncManager activation changed
(0x0220.4)
x
SyncManager watchdog expiration
(0x0220.6)
-
Error Counters
RX Error Counter (0x0300:0x0307) x
Forwarded RX Error Counter
(0x0308:0x030B)
x
ECAT Processing Unit Error Counter
(0x030C)
x
PDI Error Counter (0x030D) x
Lost Link Counter (0x0310:0x0313) x
Watchdog
Watchdog Divider configurable
(0x0400:0x0401)
x
Watchdog Process Data x
Watchdog PDI x
Watchdog Counter Process Data (0x0442) x
Watchdog Counter PDI (0x0443) x
SII EEPROM Interface (0x0500:0x050F)
EEPROM sizes supported
1 Kbyte-
4 Mbyte
EEPROM size reflected in 0x0502.7 x
EEPROM controllable by PDI x
EEPROM Emulation by PDI -
Read data bytes (0x0502.6) 8
Internal Pull-Ups for EEPROM_CLK and
EEPROM_DATA
x
FMMUs 8
Bit-oriented operation x
SyncManagers 8
Watchdog trigger generation for 1 Byte
Mailbox configuration independent of
reading access
x
SyncManager Event Times (+0x8[7:6]) x
Buffer state (+0x5[7:6]) -
Distributed Clocks x
Width 64
Sync/Latch signals 2
SyncManager Event Times
(0x09F0:0x09FF)
x
DC Receive Times x
DC Time Loop Control controllable by PDI -
DC activation by EEPROM
(0x0140[11:10])
x
Propagation delay measurement with
traffic (BWR/FPWR 0x900 detected at
each port)
x
LatchSignal state in Latch Status register
(0x09AE:0x09AF)
x
SyncSignal Auto-Activation (0x0981.3) -
SyncSignal 32 or 64 bit Start Time
(0x0981.4)
-
SyncSignal Late Activation (0x0981[6:5]) -
SyncSignal debug pulse (0x0981.7) -
SyncSignal Activation State 0x0984) -
Reset filters after writing filter depth -
ESC Specific Registers (0x0E00:0x0EFF)
Product and Vendor ID -
POR Values x
FPGA Update (online) -
Process RAM and User RAM
Process RAM (0x1000 ff.) [Kbyte] 8
User RAM (0x0F80:0x0FFF) x
Extended ESC Feature Availability in User
RAM
-