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EtherCAT Slave Controller Overview

Slave Controller – Technology I-1

1 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)

1-3 MII/

1-3 RGMII/

1-2 RMII

2 MII

FMMUs

0-8

SyncManagers

0-8

RAM [Kbyte]

0-60

Distributed Clocks

64 bit

32/64 bit

32 bit

Process Data Interfaces

Digital I/O

16 bit

32 bit

8-32 bit

32 bit

SPI Slave

Yes

8/16 bit µController

Async/Sync

Async

On-chip bus

Yes

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

ECAT

Processing

Unit

AutoForwarder +

Loopback

SyncManager

FMMU

ESC address space

User RAMRegisters Process RAM

EEPROM

Distributed

Clocks

Monitoring Status

Reset

PHY

Management

Reset

SYNC LEDsI²C EEPROM

PHY MI

SPI / µC parallel /

Digital I/O / On-chip bus

0 1 2 3

Ports (Ethernet/EBUS)

LATCH

PDI

ECAT Interface PDI Interface

Figure 1: EtherCAT Slave Controller Block Diagram

1 2 ... 16 17 18 19 20 21 22 23 24 25 26 ... 115 116

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