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EtherCAT Protocol
I-6 Slave Controller – Technology
Table 3: EtherCAT Datagram
Field
Data Type
Value/Description
Cmd
BYTE
EtherCAT Command Type (see 2.5)
Idx
BYTE
The index is a numeric identifier used by the master for
identification of duplicates/lost datagrams. It shall not be changed
by EtherCAT slaves
Address
BYTE[4]
Address (Auto Increment, Configured Station Address, or Logical
Address, see 2.3)
Len
11 bit
Length of the following data within this datagram
R
3 bit
Reserved, 0
C
1 bit
Circulating frame (see 3.5):
0: Frame is not circulating
1: Frame has circulated once
M
1 bit
More EtherCAT datagrams
0: Last EtherCAT datagram
1: More EtherCAT datagrams will follow
IRQ
WORD
EtherCAT Event Request registers of all slaves combined with a
logical OR
Data
BYTE[n]
Read/Write Data
WKC
WORD
Working Counter (see 2.4)
2.3 EtherCAT Addressing Modes
Two addressing modes of EtherCAT devices are supported within one segment: device addressing
and logical addressing. Three device addressing modes are available: auto increment addressing,
configured station address, and broadcast. EtherCAT devices can have up to two configured station
addresses, one is assigned by the master (Configured Station Address), the other one is stored in the
SII EEPROM and can be changed by the slave application (Configured Station Alias address). The
EEPROM setting for the Configured Station Alias address is only taken over at the first EEPROM
loading after power-on or reset.
Table 4: EtherCAT Addressing Modes
Mode
Field
Data Type
Value/Description
Auto Increment
Address
Position
WORD
Each slave increments Position.
Slave is addressed if Position = 0.
Offset
WORD
Local register or memory address of the ESC
Configured
Station Address
Address
WORD
Slave is addressed if Address matches
Configured Station Address or Configured
Station Alias (if enabled).
Offset
WORD
Local register or memory address of the ESC
Broadcast
Position
WORD
Each slave increments Position (not used for
addressing)
Offset
WORD
Local register or memory address of the ESC
Logical Address
Address
DWORD
Logical Address (configured by FMMUs)
Slave is addressed if FMMU configuration
matches Address.
- DOCUMENT HISTORY 5
- TABLES 11
- Table 1: ESC Main Features 21
- 2 EtherCAT Protocol 24
- Figure 3: EtherCAT Datagram 25
- Table 3: EtherCAT Datagram 26
- EtherCAT Protocol 29
- 2.5 EtherCAT Command Types 29
- 3 Frame Processing 32
- EtherCAT 34
- Slave Controller 34
- Figure 6: Circulating Frames 35
- 5 Ethernet Physical Layer 40
- Configuration 43
- PHY address 47
- Figure 8: Write access 49
- Figure 9: Read access 49
- Ethernet PHY 50
- > 1mm gap between 51
- PE and Virtual Ground 51
- Figure 12: RJ45 Connector 52
- Standard Ethernet 54
- MAC (µC/FPGA) 54
- 6 EBUS/LVDS Physical Layer 55
- 7 FMMU 59
- Logical Address Space 60
- Physical Address Space 60
- 8 SyncManager 61
- Channel 64
- Master µController 66
- 9 Distributed Clocks 67
- Drift compensation 69
- Distributed Clocks 72
- Local time 76
- Propagation delay 76
- Received System Time 76
- 0x0920:0x0927 77
- SYNC0 Cycle Time 81
- Start Time 81
- Pulse Length of 81
- SyncSignals 81
- ESC 1 generates SyncPulse 87
- (calculated by µC) to System 87
- Time register of ESC 2 87
- 10 EtherCAT State Machine 90
- 11 SII EEPROM 92
- 0x5:0x6 94
- 0x8:0x9 94
- EEPROM_SIZE 98
- Table 43: I²C Control Byte 99
- Table 44: I²C Write Access 99
- EEPROM_CLK 100
- EEPROM_DATA 100
- 12 Interrupts 102
- (0x0210:0x0211) 103
- (0x0200:0x0201) 103
- 13 Watchdogs 104
- 14 Error Counters 105
- 15 LED Signals (Indicators) 107
- Table 56: LINKACT LED States 109
- 17 Additional Information 114
- 18 Appendix 116
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