Beckhoff EtherCAT Registers Section II Manual de usuario descargar pdf (Pagina 42)

PDI Configuration (0x0150:0x0153)

II-30 Slave Controller – Register Description

3.28.2 PDI SPI Slave Configuration

Table 35: Register PDI SPI Slave Configuration (0x0150)

ESC20

ET1100

ET1200

IP Core

[3:2], [7:6]

[7:6]

Bit

Description

ECAT

PDI

Reset Value

1:0

SPI mode:

00: SPI mode 0

01: SPI mode 1

10: SPI mode 2

11: SPI mode 3

NOTE: SPI mode 3 is recommended for Slave

Sample Code

NOTE: SPI status flag is not available in SPI

modes 0 and 2 with normal data out sample.

r/-

IP Core: Depends on

configuration

Others: 0, later

EEPROM ADR 0x0001

3:2

SPI_IRQ output driver/polarity:

00: Push-Pull active low

01: Open Drain (active low)

10: Push-Pull active high

11: Open Source (active high)

r/-

SPI_SEL polarity:

0: Active low

1: Active high

r/-

Data Out sample mode:

0: Normal sample (SPI_DO and SPI_DI

are sampled at the same SPI_CLK

edge)

1: Late sample (SPI_DO and SPI_DI are

sampled at different SPI_CLK edges)

r/-

7:6

Reserved, set EEPROM value 0

r/-

Table Register Sync/Latch[1:0] PDI Configuration (0x0151) moved to chapter 3.28.7

Table 36: Register PDI SPI Slave extended configuration (0x0152:0x0153)

ESC20

ET1100

ET1200

IP Core

[15:0]

Bit

Description

ECAT

PDI

Reset Value

15:0

Reserved, set EEPROM value 0

r/-

IP Core: 0

Others: 0, later

EEPROM ADR 0x0003

1 2 ... 37 38 39 40 41 42 43 44 45 46 47 ... 97 98

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Beckhoff EtherCAT Registers Section II Manual de usuario Pagina 42

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