Application Note. Slave Controller. Application Note ESC Comparison Feature and register comparison. (Online at

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1 Appliation Note Controller Setion I Setion II Setion III Tehnology (Online at Register Desription (Online at Hardware Desription (Online at Appliation Note ESC Comparison and register omparison Version.6 Date:

2 DOCUMENT ORGANIZATION DOCUMENT ORGANIZATION The Bekhoff EtherCAT Controller (ESC) doumentation overs the following Bekhoff ESCs: 100 EtherCAT for s EtherCAT for s ESC0 The doumentation is organized in three setions. Setion I and setion II are ommon for all Bekhoff ESCs, Setion III is speifi for eah ESC variant. The latest doumentation is available at the Bekhoff homepage ( Setion I Tehnology (All ESCs) Setion I deals with the basi EtherCAT tehnology. Starting with the EtherCAT protool itself, the frame proessing inside EtherCAT slaves is desribed. The features and interfaes of the physial layer with its two alternatives Ethernet and EBUS are eplained afterwards. Finally, the details of the funtional units of an ESC like FMMU, SynManager, Distributed Cloks, Information Interfae, Interrupts, Wathdogs, and so on, are desribed. Sine Setion I is ommon for all Bekhoff ESCs, it might desribe features whih are not available in a speifi ESC. Refer to the feature details overview in Setion III of a speifi ESC to find out whih features are available. Setion II Register Desription (All ESCs) Setion II ontains detailed information about all ESC registers. This setion is also ommon for all Bekhoff ESCs, thus registers, register bits, or features are desribed whih might not be available in a speifi ESC. Refer to the register overview and to the feature details overview in Setion III of a speifi ESC to find out whih registers and features are available. Setion III Hardware Desription (Speifi ESC) Setion III is ESC speifi and ontains detailed information about the ESC features, implemented registers, onfiguration, interfaes, pinout, usage, eletrial and mehanial speifiation, and so on. Espeially the Proess Data Interfaes (PDI) supported by the ESC are part of this setion. Additional Doumentation Appliation notes and utilities an also be found at the Bekhoff homepage. Pinout onfiguration tools for /100 are available. Additional information on EtherCAT s with latest updates regarding design flow ompatibility, devie support and known issues are also available. Trademarks Bekhoff, TwinCAT, EtherCAT, Safety over EtherCAT, TwinSAFE and XFC are registered trademarks of and liensed by Bekhoff Automation GmbH & Co. KG. Other designations used in this publiation may be trademarks whose use by third parties for their own purposes ould violate the rights of the owners. Patent Pending The EtherCAT Tehnology is overed, inluding but not limited to the following German patent appliations and patents: DE , DE , DE , DE with orresponding appliations or registrations in various other ountries. Dislaimer The doumentation has been prepared with are. The produts desribed are, however, onstantly under development. For that reason the doumentation is not in every ase heked for onsisteny with performane data, standards or other harateristis. In the event that it ontains tehnial or editorial errors, we retain the right to make alterations at any time and without warning. No laims for the modifiation of produts that have already been supplied may be made on the basis of the data, diagrams and desriptions in this doumentation. Copyright Bekhoff Automation GmbH & Co. KG 01/015. The reprodution, distribution and utilization of this doument as well as the ommuniation of its ontents to others without epress authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design. Version Comment 1.0 Initial release DOCUMENT HISTORY 1.1 EtherCAT mode and slave ategory added Enhaned Link Detetion ompatibility added Editorial hanges 1. Different versions of ESCs added to omparison Update to EtherCAT Release V..0/V.0a ESC DL Control register address orreted : Register 0090 is only available if DC Syn Unit is enabled ( =1) s: Physial Read/Write Offset (0010:00109) is onfigurable ESC10 removed Editorial hanges 1.3 Added EtherCAT for s V..1 Editorial hanges 1. Update to 000 and Editorial hanges 1.5 Update to EtherCAT for s V.3.0, Update to EtherCAT for s V.03a Editorial hanges 1.6 Update to EtherCAT for s V.3.1, Update to EtherCAT for s V.03b 1.7 Removed Enhaned Link Detetion EBUS support for /100 Update to EtherCAT for s V.3., Update to EtherCAT for s V Update to EtherCAT for s V..0, Update to EtherCAT for s V.0a Added optional LED features Added design tool ompatibility 1.9 Updated design tool ompatibility.0 Update to EtherCAT for s V3.0., Update to EtherCAT for s V3.00 Update to 0003 and Removed design tool ompatibility (moved to Data sheet addendum).1 Update to EtherCAT for s V..3, Update to EtherCAT for s V.0d. Update to EtherCAT for s V3.0.5, Update to EtherCAT for s V3.00f.3 Update to EtherCAT for s V3.0.6, Update to EtherCAT for s V3.00g. Editorial hanges.5 Update to EtherCAT for s V, Update to EtherCAT for s V.6 Update to EtherCAT for s V.. and, Update to EtherCAT IP Core for s V.0e and Controller Appliation Note II

3 Overview 1 Overview This appliation note provides an overview of the features and available registers of the following Bekhoff EtherCAT Controllers: EtherCAT for s (up to V../) EtherCAT for s (up to V.0e/) ESC0 (Build ) Refer to the ESC data sheets for further information. The ESC data sheets are available from the Bekhoff homepage ( Table 1: ESC Main s 100 (latest) ESC0 Ports 3 (eah EBUS/MII, ma. 1MII) (eah EBUS/MII) 13 MII or 13 RGMII or 1 RMII FMMUs 3 0 SynManagers 0 RAM [Kbyte] 1 0 Distributed Cloks 6 bit 6 bit bit 3 bit Digital I/O 16 bit 3 bit 3 bit 3 bit SPI Yes Yes Yes Yes /16 bit µcontroller Asyn/Syn Asyn Asyn Onhip bus Avalon AMBA AXI3 TM PLB AMBA AXI TM AMBA AXI LITE TM MII Controller Appliation Note 1

4 ESC s ESC s V3.0.0 V.. V..3 V..0 V.3.1/ V.3. V.3.0 V..1 V..0 Table : ESC s V.0.0 EtherCAT Ports Permanent ports Optional Bridge port 3 (EBUS or MII) EBUS ports 13 0 MII ports //3 0//3 0/ 0/ 0/ 0/ //3 0/ 0/ RMII ports / 0/ 0/ 0/ 0/ 0/ / 0/ 0/ RGMII ports Port 0 Ports 0, 1 Ports 0, 1, Ports 0, 1, 3 Ports 0, 1,, 3 EtherCAT mode Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Diret Category Position addressing Node addressing Logial addressing Broadast addressing Physial Layer General s FIFO Size onfigurable (00100[1:16]) FIFO Size default from SII EEPROM AutoForwarder heks CRC and SOF Forwarded RX Error indiation, detetion and Counter (0030: 0030B) Lost Link Counter (00310: 00313) Prevention of irulating frames Fallbak: Port 0 opens if all ports are losed VLAN Tag and IP/UDP support Enhaned Link Detetion per port onfigurable EBUS s Low Jitter Enhaned Link Detetion supported Enhaned Link Detetion ompatible EBUS signal validation LVDS Transeiver internal X X X V3.00 V.0e V.0d V.0a V.03d V.03b/ V.03a V.0a V.00a ESC0 Controller Appliation Note

5 ESC s LVDS sample rate [MHz] Remote link down signaling time onfigurable 00100[] General Ethernet s (MII/RMII/RGMII) MII Management Interfae (00510: 0051F) Supported PHY Address Offsets Individual port PHY addresses Port PHY addresses readable Link Polarity onfigurable Enhaned Link Detetion supported FX PHY support (native) PHY reset out signals Link detetion using PHY signal (LED) MI link status and onfiguration MI ontrollable by PDI (00516: 00517) MI read error ( ) MI PHY onfiguration update status (0051.5) MI preamble suppression Additional MCLK Gigabit PHY onfiguration Gigabit PHY register 9 relaed hek FX PHY onfiguration Transparent Mode ,000 1,000 V3.0.0 V.. V..3 V..0 V.3.1/ V.3. V.3.0 V..1 V..0 V.0.0 0/16 0/16 any any any any any any any any any any 0/16 0/16 0/16 any any any any any any any any any any 0/16 0 V3.00 V.0e V.0d V.0a V.03d V.03b/ V.03a V.0a V.00a ESC0 Controller Appliation Note 3

6 ESC s MII s CLK5OUT as PHY lok soure Bootstrap TX Shift settings Automati TX Shift setting (with TX_CLK) TX Shift not neessary (PHY TX_CLK as lok soure) FIFO size redution steps PDI General s Inreased PDI performane Etended PDI Configuration (0015: 00153) PDI Error Counter (0030D) PDI Error Code (0030E) CPU_CLK output (10, 0, 5 MHz) SOF, EOF, WD_TRIG and WD_STATE independent of PDI Available PDIs and PDI features depending on port onfiguration PDI seletion at runtime (SII EEPROM) PDI ative immediately (SII EEPROM settings ignored) PDI funtion aknowledge by write PDI Information register 001E:001F V3.0.0 V.. V..3 V..0 V.3.1/ V.3. V.3.0 V..1 V..0 V.0.0 V3.00 V.0e V.0d V.0a V.03d V.03b/ V.03a V.0a V.00a Digital I/O PDI Digital I/O width [bits] PDI Control register value (0010: 0011) Control/Status signals: /16 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 1 /0 1, 7/ LATCH_IN 1, SOF 1, OUTVALID 1, WD_TRIG 1, OE_CONF OE_EXT EEPROM_ Loaded WD_STATE /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 /16//3 ESC0 3 1 Shared ontrol/status signals: LATCH_IN/SOF and OUT_VALID/WD_TRIGGER Availability depending on port onfiguration Controller Appliation Note

7 ESC s V3.0.0 V.. V..3 V..0 V.3.1/ V.3. V.3.0 V..1 V..0 V.0.0 EOF Granularity of diretion onfiguration [bits] Bidiretional mode Output highz if WD epired Output 0 if WD epired Output with EOF Output with DC SynSignals ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) Input with SOF Input with DC SynSignals SPI PDI Ma. SPI lok [MHz] SPI modes onfigurable (00150[1:0]) SPI_IRQ driver onfigurable (00150[3:]) SPI_SEL polarity onfigurable (00150.) Data out sample mode onfigurable ( ) (SPI mode ) ( ) (SPI mode ) ( ) V3.00 ( ) V.0e ( ) V.0d ( ) V.0a ( ) V.03d ( ) V.03b/ ( ) V.03a ( ) V.0a ( ) V.00a ( ) Busy signaling Wait State byte(s) Number of address etension byte(s) / Byte SPI master support Etended error detetion (read busy violation) 1 any any any any any any any any any any any any any any any any any any any any any any any any any SPI_IRQ delay Status indiation EEPROM_ Loaded signal Asynhronous µcontroller PDI Etended µc onfiguration bits 00150[7:], 0015:00153 ADR[15:13] available (000b if not available) EEPROM_Load ed signal RD polarity onfigurable ( ) Read BUSY delay (0015.0) Write after first edge (0015.) Synhronous µcontroller PDI EEPROM_ Loaded signal /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit /16 bit ( ) ESC0 Controller Appliation Note 5

8 ESC s V3.0.0 V.. V..3 V..0 V.3.1/ V.3. V.3.0 V..1 V..0 V.0.0 OnChip Bus PDI Avalon OPB PLB v.6 AXI3 TM AXI TM AXI LITE TM Bus lok [MHz] (N=1,,3, ) Data bus width [bits] any any N*5 N*5 N*5 N*5 N*5 N*5 N*5 N*5 N*5 N*5 5 any any N*5 N*5 N*5 N*5 N*5 N*5 N*5 N*5 N*5 /16/3/6 /16/3/6 Prefeth yles 1 1 1// 1// 1// 1// 1// 1// 1// 1// 1// 1 1 DC SynSignals available diretly and as IRQ Bus lok multiplier in register 00150[6:0] EEPROM_ Loaded signal EtherCAT Bridge (port 3, EBUS/MII) /16/3/6 V3.00 /16/3/6 V.0e V.0d V.0a V.03d V.03b/ V.03a V.0a V.00a // (OPB) 1// (OPB) 1// (OPB) 1// (OPB) 1// (OPB) 1// (OPB) 1// 1// General Purpose I/O GPO bits GPI bits 016 GPIO available independent of PDI or port onfiguration GPIO available without PDI Conurrent aess to GPO by ECAT and PDI ESC Information Basi Information (00000: 00006) Port Desriptor (00007) ESC s supported (0000: 00009) Etended ESC Availability in RAM (00F0 ff.) Write Protetion (0000:00031) Data Link Layer s ECAT Reset (0000) PDI Reset (0001) ESC DL Control (00100:00103 ) bytes EtherCAT only mode ( ) Temporary loop ontrol ( ) FIFO Size onfigurable (00100[1:16]) 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ / / / / / / / / / / / / / 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ 0//16/ ESC0 Controller Appliation Note 6

9 ESC s Configured Station Address (00010: 00011) Configured Station Alias (00100., 0001:00013) Physial Read/Write Offset (0010: 00109) Appliation Layer s Interrupts Etended AL Control/Status bits (0010[15:5], 00130[15:5]) AL Status Emulation (0010.) AL Status Code (0013: 00135) ECAT Event Mask (0000:0001 ) AL Event Mask (000: 0007) ECAT Event Request (0010: 0011) AL Event Request (000: 003) SynManager ativation hanged (000.) SynManager wathdog epiration (000.6) Error Counters Wathdog RX Error Counter (00300: 00307) Forwarded RX Error Counter (0030: 0030B) ECAT Proessing Unit Error Counter (0030C) PDI Error Counter (0030D) Lost Link Counter (00310: 00313) Wathdog Divider onfigurable (0000: 0001) Wathdog Proess Data V3.0.0 V.. V..3 V..0 V.3.1/ V.3. V.3.0 V..1 V..0 V.0.0 Wathdog PDI Wathdog Counter Proess Data (00) V3.00 V.0e V.0d V.0a V.03d V.03b/ V.03a V.0a V.00a ESC0 Controller Appliation Note 7

10 ESC s Wathdog Counter PDI (003) SII EEPROM Interfae (00500:0050F) EEPROM sizes supported EEPROM size refleted in EEPROM ontrollable by PDI EEPROM Emulation by PDI EEPROM Emulation CRC error 0050[11] PDI writable Read data bytes (0050.6) Internal Pull Ups for EEPROM_CLK and EEPROM_DAT A V3.0.0 V.. V..3 V..0 V.3.1/ V.3. V.3.0 V..1 V..0 V Kbyte Mbyt e 1 Kbyte Mbyte 1 Kbyte Mbyte 1 Kbyte Mbyte 1 Kbyte Mbyte 1 Kbyte Mbyte 1 Kbyte Mbyte 1 Kbyte Mbyte 1 Kbyte Mbyte 1 Kbyte Mbyte 1 Kbyte Mbyte 1 Kbyte Mbyte 1 Kbyte Mbyte 16 Kbyte Mbyte FMMUs Bitoriented operation SynManagers Wathdog trigger generation for 1 Byte Mailbo onfiguration independent of reading aess SynManager Event Times (+0[7:6]) Buffer state (+05[7:6]) Distributed Cloks Width Syn/Lath signals SynManager Event Times (009F0: 009FF) DC Reeive Times DC Time Loop Control ontrollable by PDI DC ativation by EEPROM (0010[11:10]) Propagation delay measurement with traffi (BWR/FPWR 0900 deteted at eah port) 1 3 (0 Syn 0 Lath (0 Syn 0 Lath ( Syn Lath ( Syn Lath ( Syn Lath ( Syn Lath ( Syn Lath ( Syn Lath ( Syn Lath ( Syn Lath ( Syn Lath ( Syn Lath if DC on if DC on if DC on if DC on if DC on if DC on 16 Kbyte Mbyte ( Syn Lath 1 Kbyte Mbyte (0 Syn 0 Lath V Kbyte Mbyte (0 Syn 0 Lath V.0e 1 Kbyte Mbyte ( Syn Lath V.0d 1 Kbyte Mbyte ( Syn Lath V.0a 1 Kbyte Mbyte ( Syn Lath V.03d 1 Kbyte Mbyte ( Syn Lath V.03b/ 1 Kbyte Mbyte ( Syn Lath V.03a 1 Kbyte Mbyte ( Syn Lath V.0a 1 Kbyte Mbyte ( Syn Lath V.00a 1 Kbyte Mbyte ( Syn Lath 1 Kbyte Mbyte ( Syn Lath ESC0 16 Kbyte Mbyt e 3 SYNC/LATCH[1] available if no MII port is used. Controller Appliation Note

11 ESC s LathSignal state in Lath Status register (009AE: 009AF) SynSignal AutoAtivation (0091.3) SynSignal 3 or 6 bit Start Time (0091.) SynSignal Late Ativation (0091[6:5]) SynSignal debug pulse (0091.7) SynSignal Ativation State 009) Reset filters after writing filter depth ESC Speifi Registers (00E00:00EFF) Produt and Vendor ID V3.0.0 V.. V..3 V..0 V.3.1/ V.3. V.3.0 V..1 V..0 V.0.0 POR Values Update (online) Proess RAM and RAM Proess RAM (01000 ff.) [Kbyte] RAM (00F0: 00FFF) Etended ESC Availability in RAM Additional EEPROMs LED Signals SII EEPROM (I²C) onfiguration EEPROM RUN LED RUN LED override Link/Ativity() LED per port PERR() LED per port Devie ERR LED STATE_RUN LED Optional LED states RUN LED: Bootstrap RUN LED: Booting RUN LED: Devie identifiation RUN LED: loading SII EEPROM Error LED: SII EEPROM loading error Error LED: Invalid hardware onfiguration V3.00 V.0e V.0d V.0a V.03d V.03b/ V.03a V.0a V.00a ESC0 Controller Appliation Note 9

12 ESC s Clok supply Error LED: Proess data wathdog timeout Error LED: PDI wathdog timeout Link/Ativity: port losed Link/Ativity: loal autonegotiation error Link/Ativity: remote autonegotiation error Link/Ativity: unknown PHY autonegotiation error V3.0.0 V.. V..3 V..0 V.3.1/ V.3. V.3.0 V..1 V..0 V.0.0 LED test Crystal Crystal osillator TX_CLK from PHY 5ppm lok soure auray Power Supply Voltages I/O Voltage Internal PLL V 3.3V / 5V tolerant 5 V () () Core Voltage.5V.5V Internal LDOs 1 LDO supply voltage 3.3V/5 V 3.3V/5V Core Voltage I/O Voltage Pakage QFN BGA1 Size [mm²] Original Release date Configuration and Pinout alulator (XLS) 11/00 6 3/007 1/015 3/013 1/015 7/013 3/011 /010 1/009 6/009 6/00 /007 1/007 11/006 7/006 1/015 5/013 1/015 7/013 3/011 6/010 /010 1/009 6/00 /007 1/007 7/005 Register Configuration fied fied individual individual individual individual individual individual individual individual individual individual Complete evaluation Liense devie required Eample designs/ presynthesized timelimited evaluation ore inluded FB110 Digital I/O 3 sets (s/m/l) 3 sets (s/m/l) 3 sets (s/m/l) V3.00 V.0e V.0d V.0a V.03d V.03b/ V.03a V.0a V.00a individual individual individual individual individual individual individual individual individual individual / 6/6 3/3 5/ 5/ 7/3 7/3 7/3 7/3 / / / / 3/3 /3 /1 / / 3/1 3/1 3/1 /1 3/ 3/ / / / / / / / / FB110 SPI / / / / / / / / FB11 Digital I/O / / / / / / / FB11 SPI / / / DBCC0 Digital I/O / / / / / / / DBCC0 NIOS / / / / / / / 3 sets (s/m/l) ESC0 1.5V BGA fied Controller Appliation Note 10

13 ESC s DBC3C0 Digital I/O V3.0.0 V.. V..3 V..0 V.3.1/ V.3. V.3.0 V..1 V..0 V.0.0 / / / / / / / / / DBC3C0 NIOS / / / / DBCCE55 NIOS DE115 NIOS MII DE115 NIOS RGMII FB1130 Digital I/O / / / / / / / / / / / / / / / / / / / / FB1130 SPI / / / / / / / / FB1130 PLB / / / / / FB1130 OPB / / / FB1130 PLBOPB / LX150T PLBAXI / / / LX150T Digital I/O / / / LX150T AXI / / ZC70 AXI (PlanAhead) ZC70 AXI (Vivado) / / / V3.00 V.0e V.0d V.0a V.03d V.03b/ V.03a V.0a V.00a ESC0 Table 3: ESC Legend Symbol Desription available not available onfigurable Funtionality an be added by user inside the red hanged in this version Controller Appliation Note 11

14 ESC Registers 3 ESC Registers Address Length (Byte) Desription V3.0.0, V3.00 Table : ESC Registers V..0V../ V.0aV.0e V.3.0V.3./ V.03aV.03d V..1/V..0/ V.0a V.0.0/V.00a / Type Revision 0000:00003 Build FMMUs supported SynManagers supported RAM Size Port Desriptor 0000:00009 ESC s supported 00010:00011 Configured Station Address 0001:00013 Configured Station Alias Write Register Enable Write Register Protetion ESC Write Enable ESC Write Protetion ESC Reset ECAT ESC Reset PDI 00100:00101 ESC DL Control 0010:00103 Etended ESC DL Control r/ r/ r/ r/ r/ r/ r r r r r r 0010:00109 Physial Read/Write Offset 00110:00111 ESC DL Status bits [:0] AL Control 0010:0011 AL Control bits [:0] AL Status 00130:00131 AL Status 0013:00135 AL Status Code RUN LED Override ERR LED Override PDI Control ESC Configuration 001E:001F PDI Information PDI Configuration DC Syn/Lath Configuration 0015:00153 Etended PDI Configuration 0000:0001 ECAT Event Mask 000:0007 PDI AL Event Mask r/ r/ r/ r/ r/ r r r 0010:0011 ECAT Event Request ESC0 Controller Appliation Note 1

15 ESC Registers Address Length (Byte) Desription V3.0.0, V3.00 V..0V../ V.0aV.0e V.3.0V.3./ V.03aV.03d V..1/V..0/ V.0a V.0.0/V.00a / 000:003 AL Event Request 00300:00307 R Error Counter[3:0] 0030:0030B 1 Forwarded R Error ounter[3:0] 0030C 1 ECAT Proessing Unit Error Counter 0030D 1 PDI Error Counter 0030E 1 PDI Error Code 00310: Lost Link Counter[3:0] 0000:0001 Wathdog Divider r/ r/ r/ r/ r/ r r r 0010:0011 Wathdog Time PDI 000:001 Wathdog Time Proess Data 000:001 Wathdog Status Proess Data 00 1 Wathdog Counter Proess Data Wathdog Counter PDI 00500:0050F 16 SII EEPROM Interfae 00510: MII Management Interfae 00516:00517 MII Management Aess State 0051:0051B PHY Port Status[3:0] 000:006FC 1613 FMMU[15:0] :007F 16 SynManager[15:0] :0090F DC Reeive Times[3:0] rt rt rt rt rt rt rt rt rt rt d 0091:0091F DC Reeive Time EPU s/l d d 0090:00935 DC Time Loop Control Unit s/l d d 00910:00917 DC System Time s/l d d DC Reeive Time Lath mode DC Cyli Unit Control s d d DC Ativation s d d 009:0093 DC Pulse length of SynSignals d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d 0 0 ESC0 0 0 d d d d d d d d s d d DC Ativation Status d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d Controller Appliation Note 13

16 ESC Registers Address Length (Byte) Desription V3.0.0, V E:009A7 6 DC SYNC Out Unit s d d 009A 1 DC Lath0 Control l d d 009A9 1 DC Lath1 Control l d d 009AE 1 DC Lath0 Status l d d 009B0:009B7 DC Lath0 Positive Edge l d d 009B:009BF DC Lath0 Negative Edge l d d 009C0:009C7 DC Lath1 Positive Edge l d d 009C7:009CF DC Lath1 Negative Edge l d d 009F0:009F3 009F:009FF 1 DC SynManager Event Times V..0V../ V.0aV.0e d d d d d d d d d d d d d d d d d d d d d d d d V.3.0V.3./ V.03aV.03d d d d d d d d d d d d d d d d d d d d d d d d d V..1/V..0/ V.0a d d d d d d d d d d d d d d d d d d d d d d d d V.0.0/V.00a d d d d d d d d d d d d d d d d d d d d d d d d / d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d ESC0 d d d d d d d d d d d d d d d d s/l d d d 00E00:00E03 PowerOn Values (Bits) 16 00E00:00E07 Produt ID 00E0:00E0F Vendor ID 00F00:00F03 Digital I/O Output Data io io io io io io io io io io io io io io io io io io io io io io 00F10:00F17 General Purpose Outputs [Byte] F1:00F1F General Purpose Inputs [Byte] F0:00FFF 1 RAM 01000:01003 Digital I/O Input Data io io io io io io io io io io io io io io io io io io io io io io io io io ff. Proess Data RAM [Kbyte] Controller Appliation Note 1

17 ESC Registers Symbol Table 5: ESC Register Legend Desription Available Not available r d rt s l s/l io red Read only Configurable Available if Distributed Cloks with all Syn/Lath signals are enabled Available if Reeive Times or Distributed Cloks are enabled (always available for 3 ports) Available if DC SYNC Out Unit enabled (Register =1) Available if DC Lath In Unit enabled (Register =1) Available if DC SYNC Out Unit enabled and/or DC Lath In Unit enabled (Register =1 and/or =1) Available if Digital I/O PDI is seleted Register hanged in this version Controller Appliation Note 15

18 Appendi Appendi.1 Support and Servie Bekhoff and our partners around the world offer omprehensive support and servie, making available fast and ompetent assistane with all questions related to Bekhoff produts and system solutions..1.1 Bekhoff s branh offies and representatives Please ontat your Bekhoff branh offie or representative for loal support and servie on Bekhoff produts! The addresses of Bekhoff's branh offies and representatives round the world an be found on her internet pages: You will also find further doumentation for Bekhoff omponents there.. Bekhoff Headquarters Bekhoff Automation GmbH & Co. KG Huelshorstweg Verl Germany Phone: +9 (0) Fa: +9 (0) Web: Bekhoff Support info@bekhoff.om Support offers you omprehensive tehnial assistane, helping you not only with the appliation of individual Bekhoff produts, but also with other, wideranging servies: worldwide support design, programming and ommissioning of omple automation systems and etensive training program for Bekhoff system omponents Hotline: +9 (0) Fa: +9 (0) Bekhoff Servie support@bekhoff.om The Bekhoff Servie Center supports you in all matters of aftersales servie: onsite servie repair servie spare parts servie hotline servie Hotline: +9 (0) Fa: +9 (0) servie@bekhoff.om Controller Appliation Note 16