Beckhoff EtherCAT Registers Section II Manual de usuario descargar pdf (Pagina 13)

Address Space Overview

Slave Controller – Register Description II-1

1 Address Space Overview

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

depends on the ESC. The availability of the registers depends on the ESC.

Table 1: ESC address space

Address

Length

(Byte)

Description

ESC Information

0x0000

Type

0x0001

Revision

0x0002:0x0003

Build

0x0004

FMMUs supported

0x0005

SyncManagers supported

0x0006

RAM Size

0x0007

Port Descriptor

0x0008:0x0009

ESC Features supported

Station Address

0x0010:0x0011

Configured Station Address

0x0012:0x0013

Configured Station Alias

Write Protection

0x0020

Write Register Enable

0x0021

Write Register Protection

0x0030

ESC Write Enable

0x0031

ESC Write Protection

Data Link Layer

0x0040

ESC Reset ECAT

0x0041

ESC Reset PDI

0x0100:0x0103

ESC DL Control

0x0108:0x0109

Physical Read/Write Offset

0x0110:0x0111

ESC DL Status

Application Layer

0x0120:0x0121

AL Control

0x0130:0x0131

AL Status

0x0134:0x0135

AL Status Code

0x0138

RUN LED Override

0x0139

ERR LED Override

PDI / ESC Configuration

0x0140

PDI Control

0x0141

ESC Configuration

0x014E:0x014F

PDI Information

0x0150

PDI Configuration

0x0151

SYNC/LATCH[1:0] PDI Configuration

0x0152:0x0153

Extended PDI Configuration

Address areas not listed here are reserved. They are not writable. Read data from reserved addresses has to be

ignored. Reserved addresses must not be written.

1 2 ... 8 9 10 11 12 13 14 15 16 17 18 ... 97 98

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Beckhoff EtherCAT Registers Section II Manual de usuario Pagina 13

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