The registers of an EtherCAT SubDevice controller (ESC) that this library uses, by the names ETG.1000.4 clause 6 gives them, and the layout of the sync manager and FMMU entities.
| Register | Address |
|---|---|
| DL information: type, revision, build, FMMUs, sync managers, RAM, ports, features | 0x0000 to 0x0009 |
| Configured station address | 0x0010 |
| Configured station alias | 0x0012 |
| DL control | 0x0100 |
| Loop control, DL control's second byte | 0x0101 |
| DL status | 0x0110 |
| AL control | 0x0120 |
| AL status | 0x0130 |
| AL status code | 0x0134 |
| RX error counters | 0x0300 |
| Lost link counters | 0x0310 |
| Watchdog divider | 0x0400 |
| DLS-user watchdog | 0x0410 |
| Sync manager watchdog | 0x0420 |
| Sync manager watchdog status | 0x0440 |
| SII access, control and status, address, data | 0x0500, 0x0502, 0x0504, 0x0508 |
| FMMU entities, 16 bytes each | 0x0600 |
| Sync manager channels, 8 bytes each | 0x0800 |
The AL registers are the "DLS-user R1" to "R6" of ETG.1000.4, which ETG.1000.6 names.
Summary
Functions
AL control, R1: the state requested.
AL status, R3: the state, and whether the last change failed.
AL status code, R6: why it failed.
DL control: forwarding and loop control of each port.
DL information: the ESC's type, revision, build, FMMUs, sync managers, RAM and features.
DL status: link, loop and signal of each port.
DLS-user watchdog, in units of the divider.
FMMU entity n.
An FMMU entity: length bytes of logical memory at logical, from bit start_bit of its first
byte to bit end_bit of its last, mapped to the physical memory at physical from bit
physical_bit, for reading, writing or both.
Loop control, the second byte of DL control: two bits for each port, from port 0 up. 0 is Auto, a port closed while it has no link and open while it has; 1 Auto close, closed when its link goes and opened again by a frame that comes in at it; 2 always open; 3 always closed.
Lost link counters of the four ports.
RX error counters of the four ports.
SII access: who owns the SII.
SII address, in words.
SII control/status.
SII data.
Configured station address.
Configured station alias, loaded from SII word 4.
Sync manager channel n.
A sync manager channel: its area of physical memory, its control byte and whether it's enabled. The status byte is not written, as it's the SubDevice's.
The control byte of a sync manager channel: buffered (three buffers) or mailbox, written or read by the MainDevice, and whether the sync manager watchdog watches it.
Sync manager watchdog, in units of the divider; 0 turns it off.
Sync manager watchdog status.
Watchdog divider, in 40 ns steps: the unit of the watchdogs, 100 µs by default.
Functions
AL control, R1: the state requested.
AL status, R3: the state, and whether the last change failed.
AL status code, R6: why it failed.
DL control: forwarding and loop control of each port.
DL information: the ESC's type, revision, build, FMMUs, sync managers, RAM and features.
DL status: link, loop and signal of each port.
DLS-user watchdog, in units of the divider.
FMMU entity n.
@spec fmmu_entity(keyword()) :: <<_::128>>
An FMMU entity: length bytes of logical memory at logical, from bit start_bit of its first
byte to bit end_bit of its last, mapped to the physical memory at physical from bit
physical_bit, for reading, writing or both.
Loop control, the second byte of DL control: two bits for each port, from port 0 up. 0 is Auto, a port closed while it has no link and open while it has; 1 Auto close, closed when its link goes and opened again by a frame that comes in at it; 2 always open; 3 always closed.
Lost link counters of the four ports.
RX error counters of the four ports.
SII access: who owns the SII.
SII address, in words.
SII control/status.
SII data.
Configured station address.
Configured station alias, loaded from SII word 4.
Sync manager channel n.
A sync manager channel: its area of physical memory, its control byte and whether it's enabled. The status byte is not written, as it's the SubDevice's.
The control byte of a sync manager channel: buffered (three buffers) or mailbox, written or read by the MainDevice, and whether the sync manager watchdog watches it.
Sync manager watchdog, in units of the divider; 0 turns it off.
Sync manager watchdog status.
Watchdog divider, in 40 ns steps: the unit of the watchdogs, 100 µs by default.