Chapter 8 Motion Control Function
8.3.4 EtherCAT Communication Diagnosis Function
EtherCAT slave devices performsEtherCAT communication using ASIC, FPGA, or EtherCAT Slave Controller (ESC) included in the
standard micro controller. The communication diagnosis function of EtherCAT reads and writes the ECS (EtherCAT Slave
Controller) registers and memories of the slave device, allowing the user to check EtherCAT communication status and errors.
EtherCAT communication diagnosis function can be used whether communication is normal or disconnected.
1. EtherCAT Slave Controller (ESC)
(1) ECS is configured as follows. Diagnosis function commands can be used to read and write in the ESC address spaces
shown in the block diagram below.
(2) ESC address space is configured as follows.
FMMU, SyncManager,
Distributed Clocks(DC).
Process Data RAM (1KB ~ 60KB)
※ Please refer to EtherCAT Slave Controller (ESC) data sheet for detailed information on register and Process RAM.
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