Beckhoff EtherCAT Registers Section II Manual do Utilizador descarregar pdf (Página 19)

ESC Register Availability

Slave Controller – Register Description II-7

2 ESC Register Availability

Table 2: ESC Register Availability

Address

Length

(Byte)

Description

ET1200

ET1100

IP Core

V3.0.2/

V3.00c

ESC20

0x0000

Type

0x0001

Revision

0x0002:0x0003

Build

0x0004

FMMUs supported

0x0005

SyncManagers supported

0x0006

RAM Size

0x0007

Port Descriptor

0x0008:0x0009

ESC Features supported

0x0010:0x0011

Configured Station Address

0x0012:0x0013

Configured Station Alias

0x0020

Write Register Enable

0x0021

Write Register Protection

0x0030

ESC Write Enable

0x0031

ESC Write Protection

0x0040

ESC Reset ECAT

0x0041

ESC Reset PDI

0x0100:0x0101

ESC DL Control

0x0102:0x0103

Extended ESC DL Control

0x0108:0x0109

Physical Read/Write Offset

0x0110:0x0111

ESC DL Status

0x0120

5 bits

[4:0]

AL Control

0x0120:0x0121

AL Control

0x0130

5 bits

[4:0]

AL Status

0x0130:0x0131

AL Status

0x0134:0x0135

AL Status Code

0x0138

RUN LED Override

0x0139

ERR LED Override

0x0140

PDI Control

0x0141

ESC Configuration

0x014E:0x014F

PDI Information

0x0150

PDI Configuration

0x0151

DC Sync/Latch Configuration

0x0152:0x0153

Extended PDI Configuration

0x0200:0x0201

ECAT Event Mask

0x0204:0x0207

PDI AL Event Mask

r/c

0x0210:0x0211

ECAT Event Request

0x0220:0x0223

AL Event Request

0x0300:0x0307

4x2

Rx Error Counter[3:0]

1 2 ... 14 15 16 17 18 19 20 21 22 23 24 ... 97 98

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