2 registers, Registers, Table 9: register availability – BECKHOFF EtherCAT IP Core for Xilinx FPGAs v2.04e User Manual
Page 27
Features and Registers
Slave Controller
– IP Core for Xilinx FPGAs
III-15
2.2
Registers
An EtherCAT Slave Controller (ESC) has an address space of 64KByte. The first block of 4KByte
(0x0000:0x0FFF) is dedicated for registers. The process data RAM starts at address 0x1000, its size
is configurable.
Some registers are implemented depending on the configuration.
Table 9 gives an overview of the available registers.
Table 9: Register availability
Address
Length
(Byte)
Description
IP Core
V2.4.0-V2.4.4/
V2.04a-V2.04e
Register set
S
M
L
IP Core
V2.3.0-V2.3.2/
V2.03a-V2.03d
Register set
S
M
L
IP Core
V2.2.1/V2.2.0/
V2.02a
Register set
S
M
L
0x0000
1
Type
x
x
x
x
x
x
x
x
x
0x0001
1
Revision
x
x
x
x
x
x
x
x
x
0x0002:0x0003
2
Build
x
x
x
x
x
x
x
x
x
0x0004
1
FMMUs supported
x
x
x
x
x
x
x
x
x
0x0005
1
SyncManagers
supported
x
x
x
x
x
x
x
x
x
0x0006
1
RAM Size
x
x
x
x
x
x
x
x
x
0x0007
1
Port Descriptor
x
x
x
x
x
x
x
x
x
0x0008:0x0009
2
ESC Features
supported
x
x
x
x
x
x
x
x
x
0x0010:0x0011
2
Configured Station
Address
x
x
x
x
x
x
x
x
x
0x0012:0x0013
2
Configured Station
Alias
x
x
x
c
c
x
c
c
x
0x0020
1
Write Register Enable
c
c
x
c
c
x
c
c
x
0x0021
1
Write Register
Protection
c
c
x
c
c
x
c
c
x
0x0030
1
ESC Write Enable
c
c
x
c
c
x
c
c
x
0x0031
1
ESC Write Protection
c
c
x
c
c
x
c
c
x
0x0040
1
ESC Reset ECAT
c
c
c
c
c
c
c
c
c
0x0041
1
ESC Reset PDI
c
c
c
c
c
c
c
c
c
0x0100:0x0101
2
ESC DL Control
x
x
x
x
x
x
x
x
x
0x0102:0x0103
2
Extended ESC DL
Control
x
x
x
r/c
r/c
x
r/c
r/c
x
0x0108:0x0109
2
Physical Read/Write
Offset
c
c
x
c
c
x
c
c
x
0x0110:0x0111
2
ESC DL Status
x
x
x
x
x
x
x
x
x
0x0120
5 bits
[4:0]
AL Control
x
x
x
x
x
x
x
x
x
0x0120:0x0121
2
AL Control
x
x
x
-
-
-
-
-
-
0x0130
5 bits
[4:0]
AL Status
x
x
x
x
x
x
x
x
x
0x0130:0x0131
2
AL Status
x
x
x
-
-
-
-
-
-
0x0134:0x0135
2
AL Status Code
c
x
x
c
x
x
c
x
x
0x0138
1
RUN LED Override
c
c
c
c
c
c
-
-
-
0x0139
1
ERR LED Override
c
c
c
c
c
c
-
-
-