DOCUMENT ORGANIZATION
II-II Slave Controller – Register Description
DOCUMENT ORGANIZATION
The Beckhoff EtherCAT Slave Controller (ESC) documentation covers the following Beckhoff ESCs:
• ET1200
• ET1100
• EtherCAT IP Core for Intel
®
FPGAs
• EtherCAT IP Core for Xilinx
®
FPGAs
• ESC20
The documentation is organized in three sections. Section I and section II are common for all Beckhoff
ESCs, Section III is specific for each ESC variant.
The latest documentation is available at the Beckhoff homepage (http://www.beckhoff.com).
Section I – Technology (All ESCs)
Section I deals with the basic EtherCAT technology. Starting with the EtherCAT protocol itself, the
frame processing inside EtherCAT slaves is described. The features and interfaces of the physical
layer with its two alternatives Ethernet and EBUS are explained afterwards. Finally, the details of the
functional units of an ESC like FMMU, SyncManager, Distributed Clocks, Slave Information Interface,
Interrupts, Watchdogs, and so on, are described.
Since Section I is common for all Beckhoff ESCs, it might describe features which are not available in
a specific ESC. Refer to the feature details overview in Section III of a specific ESC to find out which
features are available.
Section II – Register Description (All ESCs)
Section II contains detailed information about all ESC registers. This section is also common for all
Beckhoff ESCs, thus registers, register bits, or features are described which might not be available in
a specific ESC. Refer to the register overview and to the feature details overview in Section III of a
specific ESC to find out which registers and features are available.
Section III – Hardware Description (Specific ESC)
Section III is ESC specific and contains detailed information about the ESC features, implemented
registers, configuration, interfaces, pinout, usage, electrical and mechanical specification, and so on.
Especially the Process Data Interfaces (PDI) supported by the ESC are part of this section.
Additional Documentation
Application notes and utilities can also be found at the Beckhoff homepage. Pinout configuration tools
for ET1100/ET1200 are available. Additional information on EtherCAT IP Cores with latest updates
regarding design flow compatibility, FPGA device support and known issues are also available.
Trademarks
Beckhoff
®
, TwinCAT
®
, EtherCAT
®
, Safety over EtherCAT
®
, TwinSAFE
®
and XFC
®
are registered trademarks of and licensed by
Beckhoff Automation GmbH & Co. KG. Other designations used in this publication may be trademarks whose use by third
parties for their own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following German patent applications and patents:
DE10304637, DE102004044764, DE102005009224, DE102007017835 with corresponding applications or registrations in
various other countries.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under development. For that
reason the documentation is not in every case checked for consistency with performance data, standards or other
characteristics. In the event that it contains technical or editorial errors, we retain the right to make alterations at any time and
without warning. No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Copyright
© Beckhoff Automation GmbH & Co. KG 09/2020.
The reproduction, distribution and utilization of this document as well as the communication of its contents to others without
express 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.
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