Beckhoff EtherCAT Registers Section II Bedienungsanleitung PDF herunterladen (Seite 24)

ESC Features supported (0x0008:0x0009)

II-12 Slave Controller – Register Description

3.8 ESC Features supported (0x0008:0x0009)

Table 11: Register ESC Features supported (0x0008:0x0009)

ESC20

ET1100

ET1200

IP Core

[8]

V2.2.0/

V2.02a

Bit

Description

ECAT

PDI

Reset Value

FMMU Operation:

0: Bit oriented

1: Byte oriented

r/-

Reserved

r/-

Distributed Clocks:

0: Not available

1: Available

r/-

ESC20: 1

IP Core: depends on

configuration

ET1100: 1

ET1200: 1

Distributed Clocks (width):

0: 32 bit

1: 64 bit

r/-

ET1100: 1

ET1200: 1

IP Core: depends on

configuration

Others : 0

Low Jitter EBUS:

0: Not available, standard jitter

1: Available, jitter minimized

r/-

ET1100: 1

ET1200: 1

Others : 0

Enhanced Link Detection EBUS:

0: Not available

1: Available

r/-

ET1100: 1

ET1200: 1

Others : 0

Enhanced Link Detection MII:

0: Not available

1: Available

r/-

ET1100: 1

ET1200: 1

Others : 0

Separate Handling of FCS Errors:

0: Not supported

1: Supported, frames with wrong FCS and

additional nibble will be counted

separately in Forwarded RX Error

Counter

r/-

IP Core: 1

ET1100: 1

ET1200: 1

Others : 0

Enhanced DC SYNC Activation

0: Not available

1: Available

NOTE: This feature refers to registers 0x981[7:3],

0x0984

r/-

IP Core:

depends on version

Others : 0

EtherCAT LRW command support:

0: Supported

1: Not supported

r/-

EtherCAT read/write command support

(BRW, APRW, FPRW):

0: Supported

1: Not supported

r/-

Fixed FMMU/SyncManager configuration

0: Variable configuration

1: Fixed configuration (refer to

documentation of supporting ESCs)

r/-

15:12

Reserved

r/-

1 2 ... 19 20 21 22 23 24 25 26 27 28 29 ... 97 98

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