EtherCAT Slave Controller Overview

An EtherCAT Slave Controller (ESC) takes care of the EtherCAT communication as an interface

between the EtherCAT fieldbus and the slave application. This document covers the following

Beckhoff ESCs: ASIC implementations (ET1100, ET1200), functionally fixed binary configurations for

FPGAs (ESC20), and configurable IP Cores for FPGAs (ET1810/ET1815).

Table 1: ESC Main Features

Feature	ET1200	ET1100	IP Core	ESC20
Ports	2-3 (each EBUS/MII, max. 1xMII)	2-4 (each EBUS/MII)	2-3 MII or 2 RMII	2 MII
FMMUs	3	8	0-8	4
SyncManagers	4	8	0-8	4
RAM [KByte]	1	8	1-60	4
Distributed Clocks	64bit	64bit	32/64bit	32bit
Process Data Interfaces
Digital I/O	16bit	32bit	8-32bit	32bit
SPI Slave	Yes	Yes	Yes	Yes
8/16 bit μController	-	Async/Sync	Async	Async
On-chip bus	-	-	Avalon/OPB	-

 

The general functionality of an ESC is shown in Figure 1:

 

Figure 1: EtherCAT Slave Controller Block Diagram

EtherCAT Slave Controller Function Blocks

EtherCAT Interfaces (Ethernet/EBUS)

The EtherCAT interfaces or ports 连接 the ESC to 其他 EtherCAT slaves and the master. The

MAC layer is integral part of the ESC. The physical layer may be Ethernet or EBUS. The physical

layer for EBUS is fully integrated into the ASICs. For Ethernet ports, external Ethernet PHYs 连接

to the MII/RMII ports of the ESC. Transmission speed for EtherCAT is fixed to 100 Mbit/s with Full

Duplex communication. Link state and communication status are reported to the Monitoring device.

EtherCAT slaves support 2-4 ports, the logical ports are numbered 0-1-2-3, formerly they were

denoted by A-B-C-D.

EtherCAT Processing Unit

The EtherCAT Processing Unit (EPU) receives, analyses and processes the EtherCAT data stream. It

is logically located between port 0 and port 3. The main purpose of the EtherCAT Processing unit is to

enable and coordinate access to the internal registers and the memory space of the ESC, which can

be addressed both from the EtherCAT master and from the local application via the PDI. Data

ex改变 between master and slave application is comparable to a dual-ported memory (process

memory), enhanced by special functions e.g. for consistency checking (SyncManager) and data

mapping (FMMU). The EtherCAT Processing Units contains the main function blocks of EtherCAT

slaves besides Auto-Forwarding, Loop-back function, and PDI.

Auto-Forwarder

The Auto-Forwarder receives the Ethernet frames, performs frame checking and forwards it to the

Loop-back function. Time stamps of received frames are generated by the Auto-Forwarder.

Loop-back function

The Loop-back function forwards Ethernet frames to the next logical port if there is either no link at a

port, or if the port is not available, or if the loop is closed for that port. The Loop-back function of port 0

forwards the frames to the EtherCAT Processing Unit. The loop settings can be controlled by the

EtherCAT master.

FMMU

Fieldbus Memory Management Units are used for bitwise mapping of logical addresses to physical

addresses of the ESC.

SyncManager

SyncManagers are responsible for consistent data ex改变 and mailbox communication between

EtherCAT master and slaves. The communication direction can be configured for each SyncManager.

Read or write transactions may generate events for the EtherCAT master and an attached μController

respectively.

Monitoring

The Monitoring unit contains error counters and watchdogs. The watchdogs are used for observing

communication and returning to a safe state in case of an error. Error counters are used for error

detection and analysis.

Reset

The integrated reset controller observes the supply voltage and controls external and internal resets

(ET1100 and ET1200 ASICs only).

PHY Management

The PHY Management unit communicates with Ethernet PHYs via the MII management interface. This

is either used by the master or by the slave. The MII management interface is used by the ESC itself

for restarting autonegotiation after receive errors with the enhanced link detection mechanism, and for

the optional MI link detection and configuration feature.

Distributed Clock

Distributed Clocks (DC) allow for precisely synchronized generation of output signals and input

sampling, as well as time stamp generation of events. The synchronization may span the entire

EtherCAT network.

Memory

An EtherCAT slave can have an address space of up to 64Kbyte. The first block of 4 Kbyte (0x0000-

0x0fff) is used for registers and user memory. The memory space from address 0x1000 onwards is

used as the process memory (up to 60 Kbyte). The size of process memory depends on the device.

The ESC address range is directly addressable by the EtherCAT master and an attached μController.

Process Data Interface (PDI) or Application Interface

There are several types of PDIs available, depending on the ESC:

• Digital I/O (8-32 bit, unidirectional/bidirectional, with DC support)

• SPI slave

• 8/16 bit μController (asynchronous or synchronous)

• On-chip bus (e.g., Avalon for Altera FPGAs or OPB for Xilinx FPGAs)

• General purpose I/O

The PDIs are described in Section III of the particular ESC, since the PDI functions are highly

depending on the ESC type.

ESI EEPROM

One non-volatile memory is needed for ESC configuration and device description, typically an I²C

EEPROM. If the ESC is implemented as an FPGA, a second non-volatile memory is necessary for the

FPGA configuration code.

Status / LEDs

The Status block provides ESC and application status information. It controls external LEDs like the

application RUN LED and port Link/Activity LEDs.

  ET1100datasheet.pdf (6.6MBytes)

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