AX58100
EtherCAT Slave Controller
Features
Document No: AX58100/V1.03/20/02/19
2/3-port EtherCAT Slave Controller (ESC) with
Step & Direction Controller
Adjustable step pulse width, polarity and the
delay time for direction change
2 Integrated Fast Ethernet PHYs
Standard EtherCAT Slave Controller (ESC)
8 Fieldbus Memory Management Units
(FMMUs)
8 Sync Managers
64-bit distributed clock
9K bytes RAM
Incremental and Hall Encoder Interface
Support single ended ABZ with configurable
counting constant, polarity and Multiple
Z-signal functions support
Supports clockwise/counter clockwise
(CW/CCW) and direction-count (DIR/CLK)
Inputs
Supports Hall sensor
Integrated Fast Ethernet PHYs
Compliant with IEEE 802.3/802.3u
100BASE-TX/100BASE-FX
PHY loopback mode
Supports twisted pair crossover detection and
auto-correction (HP Auto-MDIX)
Automatic polarity detection and correction
Emergency Stop Input
Configurable Watchdog for Outputs and Inputs
Monitoring
IRQ Event Output
Interrupts for EtherCAT related events
Interrupts for Application related events
Interrupts for Watchdog Timeout
3rd Ethernet MII Port for Flexible EtherCAT
Network Configurations
Up to 32 Digital/General Purpose IOs
Each IO is configurable individually and
mapped to FMMU directly
SPI Master Interface
Programmable SPI clock frequency up to
50MHz
Supports 4 timing modes
Supports MSB/LSB first transfer fashion
Supports up to 8 SPI devices selection
Supports up to 8 channels, each channel with 8
bytes read/write buffer
Supports ADC Data Ready and DAC Data
Loaded indication
Supports periodic data acquisition
Supports late sample for high latency device
Supports external interrupt input
SPI Slave Interface
Supports Mode 3 timing modes
Supports MSB first transfer fashion
Local Bus Interface
Supports 8-bit or 16-bit data bus width
Supports Asynchronous Local Bus
Supports BHE with 16-bit data bus width
Bridge
Supports function and ESC registers mirror with
selectable synchronous conditions
Supports I2C Master Interface
3-channel PWM Controller
Adjustable frequency, phase align and BBM
(Break Before Make) for all channels
Adjustable duty cycle, phase shift, and signal
polarity per channel
Integrates On-chip Power-on Reset Circuit
80-pin LQFP RoHS Compliant Package
Operating Temperature Range: -40 to +105°C
Target Applications
DAC/ADC Converters Control
Sensors Data Acquisition
Robotics
Operator HMI Interfaces
Industrial Automation
Motion/Motor Control
Digital I/O Control
Communication Module
ASIX Electronics Corporation
4F, No.8, Hsin Ann Rd.,
Hsinchu Science Park,
Hsinchu, Taiwan 30078
1
Released Date: 20/02/2019
TEL: +886-3-579-9500
FAX: +886-3-579-9558
http://www.asix.com.tw/
AX58100
EtherCAT Slave Controller
Typical Applications Diagram
Figure 0-1: AX58100 Typical Applications Diagram
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Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
DISCLAIMER
No part of this document may be reproduced or transmitted in any form or by any means, electronic or mechanical,
including photocopying and recording, for any purpose, without the express written permission of ASIX. ASIX may
make changes to the product specifications and descriptions in this document at any time, without notice.
ASIX provides this document “as is” without warranty of any kind, either expressed or implied, including without
limitation warranties of merchantability, fitness for a particular purpose, and non-infringement.
Designers must not rely on the absence or characteristics of any features or registers marked “reserved”, “undefined” or
“NC”. ASIX reserves these for future definition and shall have no responsibility whatsoever for conflicts or
incompatibilities arising from future changes to them. Always contact ASIX to get the latest document before starting a
design of ASIX products.
TRADEMARKS
ASIX, the ASIX logo are registered trademarks of ASIX Electronics Corporation. All other trademarks are the property
of their respective owners.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
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Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Table of Contents
1
INTRODUCTION ....................................................................................................................................................8
GENERAL DESCRIPTION ......................................................................................................................................8
BLOCK DIAGRAM ................................................................................................................................................8
PINOUT DIAGRAM ...............................................................................................................................................9
SIGNAL DESCRIPTION ........................................................................................................................................ 10
1.4.1
General ..................................................................................................................................................... 10
1.4.2
PDI Digital IO / GPIO ............................................................................................................................. 12
1.4.3
ESC PDI / Function SPI Slave Interface .................................................................................................. 12
1.4.4
ESC PDI / Function Local Bus Interface.................................................................................................. 13
1.4.5
PWM Motor Controller ............................................................................................................................ 13
1.4.6
Incremental / Hall Encoder Interface ....................................................................................................... 13
1.4.7
SPI Master ................................................................................................................................................ 14
1.4.8
Port 2 MII ................................................................................................................................................. 14
2
FUNCTION DESCRIPTION ................................................................................................................................ 15
CLOCKS/RESETS ................................................................................................................................................ 15
ETHERCAT SLAVE CONTROLLER (ESC) ........................................................................................................... 15
ETHERNET PHY ................................................................................................................................................ 15
BRIDGE FUNCTION ............................................................................................................................................ 15
I/O WATCHDOG................................................................................................................................................. 16
PWM CONTROLLER .......................................................................................................................................... 16
INCREMENTAL AND HALL ENCODER INTERFACE............................................................................................... 16
SPI MASTER CONTROLLER ............................................................................................................................... 16
3
CHIP CONFIGURATION AND MEMORY MAP DESCRIPTION ................................................................ 17
BOOTSTRAP PINS FOR CHIP CONFIGURATION .................................................................................................... 17
HARDWARE CONFIGURATION EEPROM (HWCFGEE) .................................................................................... 18
3.2.1
EEPROM Contents Detailed Descriptions ............................................................................................... 21
MEMORY MAP .................................................................................................................................................. 26
3.3.1
ESC Memory Map .................................................................................................................................... 26
3.3.2
Function Register Map ............................................................................................................................. 32
3.3.3
Memory Map between ESC Memory and Function Registers .................................................................. 34
4
ELECTRICAL SPECIFICATIONS ..................................................................................................................... 36
DC CHARACTERISTICS ...................................................................................................................................... 36
4.1.1
Absolute Maximum Ratings ...................................................................................................................... 36
4.1.2
Recommended Operating Condition ......................................................................................................... 36
4.1.3
Leakage Current and Capacitance ........................................................................................................... 36
4.1.4
DC Characteristics of 3.3V with 5V Tolerant I/O Pins ............................................................................ 37
POWER CONSUMPTION ...................................................................................................................................... 38
POWER-ON-RESET (POR) SPECIFICATION ........................................................................................................ 39
POWER–UP SEQUENCE ...................................................................................................................................... 40
AC TIMING CHARACTERISTICS ......................................................................................................................... 41
4.5.1
I2C Timing ................................................................................................................................................ 41
4.5.2
Port 2 MII Timing ..................................................................................................................................... 43
4.5.3
Distributed Clocks SYNC/LATCH ............................................................................................................ 46
4.5.4
Digital I/O Timing .................................................................................................................................... 47
4.5.5
ESC PDI SPI Slave Timing ....................................................................................................................... 49
4.5.6
Function SPI Slave Timing ....................................................................................................................... 54
4.5.7
ESC PDI Local Bus Timing ...................................................................................................................... 55
4.5.8
Function Local Bus Timing ...................................................................................................................... 59
4.5.9
PWM Motor Controller Timing ................................................................................................................ 61
4.5.10
Incremental and Hall Encoder Interface Timing ...................................................................................... 64
4.5.11
SPI Master Timing .................................................................................................................................... 66
4
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AX58100
EtherCAT Slave Controller
5
PACKAGE INFORMATION ............................................................................................................................... 69
6
ORDERING INFORMATION ............................................................................................................................. 70
7
REVISION HISTORY ........................................................................................................................................... 70
5
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
List of Figures
FIGURE 0-1: AX58100 TYPICAL APPLICATIONS DIAGRAM .................................................................................................2
FIGURE 1-1: AX58100 BLOCK DIAGRAM............................................................................................................................ 8
FIGURE 1-2: AX58100 PINOUT DIAGRAM ...........................................................................................................................9
FIGURE 3-1: AX58100 I2C EEPROM LAYOUT ................................................................................................................. 20
FIGURE 4-1: POWER ON RESET (POR) TIMING DIAGRAM ................................................................................................. 39
FIGURE 4-2: POWER-UP SEQUENCE TIMING DIAGRAM ...................................................................................................... 40
FIGURE 4-3: WRITE ACCESS (1 ADDRESS BYTE, UP TO 16 KBIT EEPROMS) ..................................................................... 41
FIGURE 4-4: WRITE ACCESS (2 ADDRESS BYTES, 32 KBIT - 4 MBIT EEPROMS) ............................................................... 41
FIGURE 4-5: READ ACCESS (1 ADDRESS BYTE, UP TO 16 KBIT EEPROMS) ....................................................................... 42
FIGURE 4-6: PORT 2 MII TX TIMING DIAGRAM ................................................................................................................ 43
FIGURE 4-7: PORT 2 MII RX TIMING DIAGRAM ................................................................................................................ 44
FIGURE 4-8: MDC/MDIO WRITE ACCESS ......................................................................................................................... 45
FIGURE 4-9: MDC/MDIO READ ACCESS .......................................................................................................................... 45
FIGURE 4-10: LATCH TIMING .......................................................................................................................................... 46
FIGURE 4-11: SYNC TIMING ............................................................................................................................................. 46
FIGURE 4-12: DIGITAL INPUT: INPUT DATA SAMPLED AT SOF, IO CAN BE READ IN THE SAME FRAME .............................. 47
FIGURE 4-13: DIGITAL INPUT: INPUT DATA SAMPLED WITH LATCH_IN .......................................................................... 47
FIGURE 4-14: DIGITAL OUTPUT TIMING ............................................................................................................................ 47
FIGURE 4-15: OE_EXT TIMING......................................................................................................................................... 47
FIGURE 4-16: BASIC MOSI/MISO TIMING ........................................................................................................................ 49
FIGURE 4-17: PDI SPI SLAVE READ ACCESS (2 BYTE ADDRESSING, 1 BYTE READ DATA) WITH WAIT STATE BYTE ........... 50
FIGURE 4-18: PDI SPI SLAVE READ ACCESS (2 BYTE ADDRESSING, 2 BYTE READ DATA) WITH WAIT STATE BYTE ........... 51
FIGURE 4-19: PDI SPI SLAVE WRITE ACCESS (2 BYTE ADDRESSING, 1 BYTE WRITE DATA) ............................................... 52
FIGURE 4-20: PDI SPI SLAVE WRITE ACCESS (3 BYTE ADDRESSING, 1 BYTE WRITE DATA) ............................................... 53
FIGURE 4-21: FUNCTION SPI SLAVE WITH SHARE PIN TIMING DIAGRAM .......................................................................... 54
FIGURE 4-22: FUNCTION SPI SLAVE WITH INDIVIDUAL PIN TIMING DIAGRAM ................................................................. 54
FIGURE 4-23: PDI LOCAL BUS READ ACCESS (WITHOUT PRECEDING WRITE ACCESS) ....................................................... 55
FIGURE 4-24: PDI LOCAL BUS WRITE ACCESS (WRITE AFTER RISING EDGE NWR, WITHOUT PRECEDING WRITE ACCESS) 55
FIGURE 4-25: PDI LOCAL BUS SEQUENCE OF TWO WRITE ACCESSES AND A READ ACCESS ............................................... 56
FIGURE 4-26: PDI LOCAL BUS WRITE ACCESS (WRITE AFTER FALLING EDGE LWRN) ...................................................... 56
FIGURE 4-27: FUNCTION LOCAL BUS SIGNAL READ ACCESS ............................................................................................ 59
FIGURE 4-28: FUNCTION LOCAL BUS WRITE ACCESS (LATE SAMPLE = 0) ....................................................................... 59
FIGURE 4-29: FUNCTION LOCAL BUS WRITE ACCESS (LATE SAMPLE = 1) ....................................................................... 59
FIGURE 4-30: PWMX TIMING ........................................................................................................................................... 61
FIGURE 4-31: ONLY PWM CHANNEL 2 SHIFT DIAGRAM .................................................................................................. 62
FIGURE 4-32: BBM (BREAK BEFORE MAKE) TIMING DIAGRAM ....................................................................................... 63
FIGURE 4-33: ONE SHOT WITH MULTI STEP TIMING DIAGRAM ......................................................................................... 63
FIGURE 4-34: ABZ TIMING DIAGRAM ............................................................................................................................... 64
FIGURE 4-35: CW/CCW TIMING DIAGRAM ...................................................................................................................... 64
FIGURE 4-36: CLK/DIR TIMING DIAGRAM ....................................................................................................................... 64
FIGURE 4-37: HALL TIMING DIAGRAM.............................................................................................................................. 64
FIGURE 4-38: SPI MASTER TIMING ................................................................................................................................... 66
FIGURE 4-39: MMISO/MMOSI TIMING ........................................................................................................................... 66
FIGURE 4-40: SPI MDRLD READY TIMEOUT TIMING ...................................................................................................... 67
FIGURE 4-41: SPI MTRG TRIGGER PULSE TIMEOUT ........................................................................................................ 67
FIGURE 4-42: SPI MDRLD TRIGGER LDAC GAP AND WIDTH TIMING ............................................................................ 67
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AX58100
EtherCAT Slave Controller
List of Tables
TABLE 1-1: COMMON PIN DESCRIPTION............................................................................................................................ 10
TABLE 1-2: ETHERNET PHY PIN DESCRIPTION ................................................................................................................. 11
TABLE 1-3: POWER/GROUND PIN DESCRIPTION ................................................................................................................ 11
TABLE 1-4: PDI DIGITAL I/O, GPIO PIN DESCRIPTION ..................................................................................................... 12
TABLE 1-5: PDI SPI SLAVE INTERFACE PIN DESCRIPTION ................................................................................................ 12
TABLE 1-6: PDI LOCAL BUS INTERFACE PIN DESCRIPTION .............................................................................................. 13
TABLE 1-7: PWM MOTOR CONTROLLER PIN DESCRIPTION .............................................................................................. 13
TABLE 1-8: INCREMENTAL/HALL ENCODER INTERFACE PIN DESCRIPTION ....................................................................... 13
TABLE 1-9: SPI MASTER PIN DESCRIPTION....................................................................................................................... 14
TABLE 1-10: PORT 2 MII PIN DESCRIPTION ...................................................................................................................... 14
TABLE 3-1: BOOTSTRAP PINS CONFIGURATION ................................................................................................................ 17
TABLE 3-2: ESC MEMORY MAP........................................................................................................................................ 31
TABLE 3-3: FUNCTION REGISTER MAP .............................................................................................................................. 33
TABLE 3-4: ESC MEMORY AND FUNCTION REGITERS MIRROR MAPPING TABLE ............................................................. 35
TABLE 4-1: POWER CONSUMPTION ................................................................................................................................... 38
TABLE 4-2: THERMAL CHARACTERISTICS ......................................................................................................................... 38
TABLE 4-3: POWER ON RESET (POR) TIMING TABLE ....................................................................................................... 39
TABLE 4-4: POWER-UP SEQUENCE TIMING TABLE ............................................................................................................ 40
TABLE 4-5: I2C EEPROM TIMING TABLE ......................................................................................................................... 42
TABLE 4-6: PORT 2 MII TX TIMING TABLE ...................................................................................................................... 43
TABLE 4-7: PORT 2 MII RX TIMING TABLE ...................................................................................................................... 44
TABLE 4-8: MDC/MDIO TIMING TABLE .......................................................................................................................... 45
TABLE 4-9: DC SYNC/LATCH TIMING CHARACTERISTICS .............................................................................................. 46
TABLE 4-10: DIGITAL I/O TIMING TABLE .......................................................................................................................... 48
TABLE 4-11 PDI SPI SLAVE TIMING TABLE...................................................................................................................... 49
TABLE 4-12: FUNCTION SPI WITH SHARE PIN TIMING TABLE............................................................................................ 54
TABLE 4-13: FUNCTION SPI WITH INDIVIDUAL PIN TIMING TABLE ................................................................................... 54
TABLE 4-14: PDI LOCAL BUS TIMING TABLE ................................................................................................................... 58
TABLE 4-15: FUNCTION LOCAL BUS ACCESS TIMING ....................................................................................................... 60
TABLE 4-16: PWMX TIMING TABLE ................................................................................................................................. 61
TABLE 4-17: PWMX SHIFT TIMIN TABLE ......................................................................................................................... 62
TABLE 4-18: PWMX BBM TIMING TABLE ....................................................................................................................... 63
TABLE 4-19: STEP FUNCTION TIMING TABLE ..................................................................................................................... 63
TABLE 4-20: INCREMENTAL AND HALL ENCODER TIMING TABLE .................................................................................... 65
TABLE 4-21: SPI MASTER TIMING TABLE ......................................................................................................................... 68
7
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
1 Introduction
General Description
The AX58100 is a 2/3-port EtherCAT Slave Controller (ESC), licensed from Beckhoff Automation, with two integrated
Fast Ethernet PHYs which support 100Mbps full-duplex operation and HP Auto-MDIX. The AX58100 supports the
CANopen over EtherCAT (CoE), File Access over EtherCAT (FoE), Vendor Specific-protocol over
EtherCAT (VoE), etc. standard EtherCAT protocols and provides a cost-effective solution for industrial automation,
motion/motor/digital I/O control, Digital to Analog (DAC)/Analog to Digital (ADC) converters control, sensors data
acquisition, robotics, etc. industrial fieldbus applications.
The AX58100 provides either a three-channel PWM controller or a Step/Direction controller, and an Increment/Hall
encoder interface for closed-loop motor control; a SPI master controller for DAC/ADC converter control and sensors data
acquisition; 32 DIOs for industrial I/O control and an I/O watchdog for functional safety.
The AX58100 provides two Process Data Interfaces (PDI), SPI slave and Local Bus, support the connection with most
popular MCU and DSP on those traditional non-EtherCAT fieldbus applications. The AX58100 provides two memory
spaces, ESC and Function, designers can use chip select to decide to access which one. The bridge will synchronize two
memory spaces’ contents for EtherCAT Master to remotely control AX58100 functions (PWM, SPI master etc.). The
AX58100 reports the ESC and Functions interrupt events to interrupt status registers and supports level or edge interrupt
trigger mode to inform external MCU/DSP to manage these ESC and Functions interrupt events. AX58100 supports a
configurable individual function SPI slave interface to enhance SPI slave bandwidth.
The AX58100, in 80-pin LQFP with EPAD, supports the RoHS compliant package and industrial grade operating
temperature range from -40 to 105°C.
Block Diagram
Figure 1-1: AX58100 Block Diagram
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Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Pinout Diagram
IO[4] / LDA[4] / MSS[0]
TEST
RSTO
RSTn
NC
VCCK
VCC12A_PLL
IO[5] / LDA[5] / MSS[1]
IO[19] / LA[11] / PULZ / TXD[0]
IO[3] / LDA[3] / MINT
IO[18] / LA[10] / PULC / MDC
IO[10] / LA[2] / SFINT
IO[17] / LA[9] / PULAB / MDIO
IO[1] / LDA[1] / MMOSI
VCCK
VCC3IO
IO[16] / LA[8] / LINK
IO[0] / LDA[0] / MSCLK
IO[20] / LA[12] / PULB / TXD[1]
P1_ACT
60
59
58
57
56
55
54
53
52
51
50
49
48
47
46
45
44
43
42
41
AX58100 is housed in an 80-pin E-PAD LQFP package.
PDI_EMU
61
40
P0_ACT
SCL
62
39
VCC33A
SDA
63
38
P0_TXOP
OE_EXT / LRDn / SCLK
64
37
P0_TXON
VCC3IO
65
36
P0_RXIP
IO[21] / LA[13] / PULA / TXD[2]
66
35
P0_RXIN
IO[6] / LDA[6] / MSS[2]
67
34
P0_SD
IO[22] / LBHE / PWM3H / TXD[3]
68
33
RSET_BG
IO[7] / LDA[7] / MSS[3]
69
32
VCC33A
IO[23] / PWM3L / TX_EN
70
31
XSCI
IO[8] / LA[0] / MDRLD
71
30
XSCO
VCCK
72
29
VCCK
IO[24] / LDA[8] / PWM2H / RXD[0]
73
28
VCC33A
IO[9] / LA[1] / MTRG
74
27
P1_SD
IO[25] / LDA[9] / PWM2L / RXD[1]
75
26
P1_RXIN
IO[26] / LDA[10] / PWM1H / RXD[2]
76
25
P1_RXIP
VCC3IO
77
24
P1_TXON
OUTVLD / LWRn / MOSI
78
23
P1_TXOP
SOF / LECSn / SCS_ESC
79
22
VCC33A
EOF / LFCSn / SCS_FUNC
80
21
EEP_DONE
12
13
14
15
16
17
18
19
20
IO[13] / LA[5] / FMOSI
IO[29] / LDA[13] / ENCA / RX_DV
IO[14] / LA[6]
IO[30] / LDA[14] / ENCB / RX_CLK
VCCK
IO[15] / LA[7]
IO[31] / LDA[15] / ENCZ / MCLK
LED_RUN
LED_ERR
9
IO[12] / LA[4] / FSCLK
11
8
IO[27] / LDA[11] / PWM1L / RXD[3]
IO[28] / LDA[12] / EMn / RX_ER
7
IO[11] / LA[3] / FMISO
10
6
LAT_IN / LRDY / MISO
VCC3IO
5
4
VCCK
3
SYNC_LATCH[1]
2
SYNC_LATCH[0]
IO[2] / LDA[2] / MMISO
1
WD_TRIG / LINT / SINT
AX58100
Figure 1-2: AX58100 Pinout Diagram
9
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AX58100
EtherCAT Slave Controller
Signal Description
Following abbreviations are used in “Type” column of below pin description tables. Note that some I/O pins with
multiple signal definitions on the same pin may have different attributes in “Type” column for different signal
definition.
AB
AI
AO
B5
I5
O5
I3
O3
Analog Bi-directional I/O
Analog Input
Analog Output
Bi-directional I/O, 3.3V with 5V tolerant
Input, 3.3V with 5V tolerant
Output, 3.3V with 5V tolerant
Input, 3.3V
Output, 3.3V
PU
PD
P
S
T
4m
8m
Internal Pull-Up (75K)
Internal Pull-Down (75K)
Power/Ground pin
Schmitt Trigger
Tri-state
4mA driving strength
8mA driving strength
For example, pin 6 in AX58100 package can be LAT_IN, MISO or LRDY. If LAT_IN is selected, its Type is I5; if
MISO or LRDY is selected, its Type is O5 or O5/T. In other words, the T (tri-state) only takes effect in
LRDYsignal mode while LT_IN and MISO signal mode doesn’t. Users should refer to the table specific to the
desired function for exact pin type definition.
The multi-function pin settings are configured by the I2C Hardware Configuration EEPROM (HWCFGEE). Please
refer to Section 3.2 in detailed.
1.4.1 General
Pin Name
TEST
Type
I5/PD/S
Pin No
Pin Description
59 Test mode enable
For normal operation, please always tie to logic low or NC.
RSTn
I5/PU/S
57 Reset Input, active low
RST_N is the hardware reset input used to reset this chip. This input is AND
with internal Power-On-Reset (POR) circuit, which generates the main
system reset for this chip
RSTO
O5/8m
58 Reset Output
XSCI
AI
31 Crystal 25MHz Input
XSCO
AB
30 Crystal 25MHz Output
SCL
O5/T/4m/ 62 I2C Serial Clock line for I2C master controller.
S
SCL is a tri-stateable output, which requires an external pull-up resistor.
SDA
B5/T/4m/
63 I2C Serial Data line for I2C master controller.
S
SDA is a tri-stateable output, which requires an external pull-up resistor.
PDI_EMU
I5
61 PDI Emulation enable
EEP_DONE
O5/8m
21 EEPROM is loaded, PDI is active
LED_RUN\
B5/4m
19 RUN LED
EEP_SIZE
This pin is input direction during chip reset stage used to bootstrap the mode
setting to decide the EEPROM size configuration, please refer to Section 3.1
LED_ERR\
B5/4m
20 Error LED
3PORT_MODE
This pin is input direction during chip reset stage used to bootstrap the mode
setting to decide the Port 2 MII enable configuration, please refer to Section
3.1
SYNC_LATCH[0] B5/8m
2
Distributed Clocks SyncSignal output or LatchSignal input 0
SYNC_LATCH[1] B5/8m
3
Distributed Clocks SyncSignal output or LatchSignal input 1
NC
I3
56 Reserved. Please connect to GND.
Table 1-1: Common Pin Description
10
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AX58100
EtherCAT Slave Controller
Pin Name
Type
Pin No
P0_TXOP
AB
38
P0_TXON
AB
37
P0_RXIP
AB
36
P0_RXIN
AB
35
P0_SD
AB
34
P0_ACT\
P0_FIBER
B5/4m
40
P1_TXOP
AB
23
P1_TXON
AB
24
P1_RXIP
AB
25
P1_RXIN
AB
26
P1_SD
AB
27
P1_ACT\
P1_FIBER
B5/4m
41
RSET_BG
AO
33
Pin Name
Type
VCC3IO
P
VCCK
P
VCC33A
P
VCC12A_PLL
P
GND
P
Pin Description
PHY 0 differential Transmitted Positive signal
In the copper mode, the differential data is transmitted to the media on the
TXOP/TXON signal pair in the MDI mode.
In the fiber mode, the signal pair should be connected to the TX+/TX- pin of the
fiber transceiver.
PHY 0 differential Transmitted Negative signal
PHY 0 differential Received Positive signal
In the copper mode, the differential data from the media is received on the
RXIP/RXIN signal pair in the MDI mode.
In the fiber mode, the signal pair should be connected to the RX+/RX- pin of the
fiber transceiver.
PHY 0 differential Received Negative signal
PHY 0 fiber mode Signal Detect
SD < 0.2V, Copper mode1.0V < SD < 1.8V, Fiber mode without detected signal. Generate far-end fault
SD > 2.4V, Fiber mode with detected signal
PHY 0 Link/Activity LED
This pin is input direction during chip reset stage used to bootstrap the mode
setting to decide the PHY 0 media mode, please refer to Section 3.1
PHY 1 differential Transmitted Positive signal
Same as PHY0 TXOP/ON description
PHY 1 differential Transmitted Negative signal
PHY 1 differential Received Positive signal
Same as PHY0 RXIP/IN description
PHY 1 differential Received Negative signal
PHY 1 fiber mode Signal Detect
Same P0_SD description
PHY 1 Link/Activity LED
This pin is input direction during chip reset stage used to bootstrap the mode
setting to decide the PHY 1 media mode, please refer to Section 3.1
PHY off-chip Bias Resistor
Connects an external resistor of 12 KΩ ± 1% to the PCB analog ground.
Table 1-2: Ethernet PHY Pin Description
Pin No
Pin Description
10, 45, Digital Power for I/O pins, 3.3V
65, 77 Please add a 0.1uF bypass capacitor between each VCC3IO and GND.
5, 16, 29, Digital Power for core, 1.2V
46, 55, 72 Please add a 0.1uF bypass capacitor between each VCCK and GND.
22, 28, Analog Power for Ethernet PHY, 3.3V
32, 39
Please add a 0.1uF bypass capacitor between VCC33A and GND.
Analog Power for PLL, 1.2V.
54
Please add a 0.1uF bypass capacitor between VCC12A_PLL and GND.
EPAD Ground for all Analog and Digital Power.
Table 1-3: Power/Ground Pin Description
11
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AX58100
EtherCAT Slave Controller
1.4.2 PDI Digital IO / GPIO
Pin Name
Type
Pin No
Pin Description
18, 15, 13,
IO[31:24]
B5/8m
11, 8, 76, Digital/General Purpose I/O[31:24]
75, 73
70, 68, 66,
IO[23:16]
B5/8m
42, 52, 50, Digital /General Purpose I/O[23:16]
48, 44
17, 14, 12,
IO[15:8]
B5/8m
9, 7, 49, 74, Digital /General Purpose I/O[15:8]
71
69, 67, 53,
IO[7:0]
B5/8m
60, 51, 4, Digital /General Purpose I/O[7:0]
47, 43
SOF
O5/8m
79
Start-of-Frame
EOF
O5/8m
80
End-of-Frame
OE_EXT
I5
64
Output Enable
OUTVLD
O5/8m
78
Output data Valid/Output event
LAT_IN
I5
6
external data Latch
WD_TRIG O5/8m
1
Watchdog Trigger
Note: The IO[31:0] in PDI Digital mode is for DIO[31:0], in PDI SPI slave mode is for GPIO[31:0]
Table 1-4: PDI Digital I/O, GPIO Pin Description
1.4.3 ESC PDI / Function SPI Slave Interface
Pin Name
Type
Pin No
Pin Description
SCS_ESC
I5
79
SPI Chip Select for ESC
SCS_FUNC I5
80
SPI Chip Select for Function
SCLK
I5
64
SPI Clock
MOSI
I5
78
SPI data MOSI
MISO
O5
6
SPI data MISO
SINT
O5/T
1
SPI Interrupt
FSCLK
I5
9
Function SPI Clock
FMOSI
I5
12
Function SPI data MOSI
FMISO
O5
7
Function SPI data MISO
SFINT
O5/T
49
SPI Function Interrupt
Note: The Function SPI slave could share pin with ESC or use independent pin, please refer to Section 3.2.
Table 1-5: PDI SPI Slave Interface Pin Description
12
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AX58100
EtherCAT Slave Controller
1.4.4 ESC PDI / Function Local Bus Interface
Pin Name
LECSn
LFCSn
LRDn
LWRn
LBHE
LRDY
LINT
Type
I5
I5
I5
I5
I5
O5/T
O5/T
LA[13:0]
I5
Pin No
Pin Description
79
Local bus ESC Chip Select
80
Local bus Function Chip Select
64
Local bus Read
78
Local bus Write
68
Local bus Byte High Enable (16-bit width only)
6
Local bus Ready
1
Local bus Interrupt
66, 42, 52,
50, 48, 44,
Local bus Address bus
17, 14, 12, 9,
7, 49, 74, 71
18, 15, 13,
Local bus Data bus [15:8]
11, 8, 76, 75,
73
69, 67, 53,
Local bus Data bus [7:0]
60, 51, 4, 47,
43
Table 1-6: PDI Local Bus Interface Pin Description
LDA[[15:8] B5
LDA[7:0]
B5
1.4.5 PWM Motor Controller
Pin Name
PWM1L
PWM1H
PWM2L
PWM2H
PWM3L
PWM3H
PULA
PULB
PULZ
PULC
PULAB
EMn
Type
O5/T
O5/T
O5/T
O5/T
O5/T
O5/T
O5
O5
O5
O5
O5
I5
Pin No
Pin Description
8
PWM 1 Low pin or STEP pin
76
PWM 1 High pin or DIR pin
75
PWM 2 Low pin
73
PWM 2 High pin
70
PWM 3 Low pin
68
PWM 3 High pin
66
Pulse A, programmable point A
42
Pulse B, programmable point B
52
Pulse Z, PWM period start point
50
Pulse C, PWM period central point
48
Pulse AB, toggle when programmable point A and B
11
Emergency input, active low
Table 1-7: PWM Motor Controller Pin Description
1.4.6 Incremental / Hall Encoder Interface
Pin Name
Type
ENCA
I5
ENCB
I5
ENCZ
I5
Pin No
Pin Description
13
ENC input A, Sin., CW, CLK, or HALL A
15
ENC input B, Cos., CCW, DIR, or HALL B
18
ENC input Z, Zero point or HALL _C
Table 1-8: Incremental/Hall Encoder Interface Pin Description
13
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AX58100
EtherCAT Slave Controller
1.4.7 SPI Master
Pin Name
MSS[3:0]
MSCLK
MMOSI
MMISO
MINT
MTRG
MDRLD
Type
O5
O5
O5
I5
I5
I5
B5
Pin No
69, 67,
53, 60
43
47
4
51
74
71
Pin Description
SPI Master Slave Select
SPI Master SCLK
SPI Master MOSI
SPI Master MISO
SPI Master Interrupt in
SPI Master Trigger in
SPI Master ADC Data Ready / DAC Data Loaded
Table 1-9: SPI Master Pin Description
1.4.8 Port 2 MII
Pin Name
Type
Pin No
MCLK
O5
18
LINK
I5
44
MDC
MDIO
TXD[3]
O5
B5
O5
50
48
68
TXD[2:1] \
O5
TX_SH[1:0]
66, 42
TXD[0] \
O5
LINK_POL
52
TX_EN
RX_CLK
O5
I5
RXD[3:0]
I5
RX_ER
RX_DV
I5
I5
Pin Description
MII Clock
25 MHz clock source for Ethernet PHYs
LINK
Provided by the PHY if a 100 Mbps (Full Duplex) link is established
PHY Management Interface clock
PHY Management Interface data
Transmit data [3]
Transmit data [2:1]
This pin is input direction during chip reset stage used to bootstrap the mode
setting to decide the external PHY’s TXD phase shift, please refer to Section 3.1
Transmit data [0]
These pins are input direction during chip reset use to bootstrap the mode setting
to decide external PHY’s LINK polarity, please refer to Section 3.1
Transmit enable
Receive Clock
70
15
8, 76, 75,
Receive data
73
11
Receive error
13
Receive data valid
Table 1-10: Port 2 MII Pin Description
14
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AX58100
EtherCAT Slave Controller
2 Function Description
Clocks/Resets
The AX58100 requires a crystal (25MHz, ±25 PPM at room temperature) as the clock source, internal PLL
generates the 100MHz clock for EtherCAT Slave Controller (ESC) and others function used.
The AX58100 have three reset sources, during the VCCK power-on, the internal Power-On-Reset (POR) can
generate a reset pulse to reset all the function blocks when the VCCK power pin rise to a certain threshold voltage
level. Second reset is RSTn pin to do the fundamental reset. And third, EtherCAT command reset, the EtherCAT
master can sent reset sequence to force AX58100 reset. AX58100 also supports a reset output RSTO polarity
bootstrap configuration (RSTO_POL).
EtherCAT Slave Controller (ESC)
The AX58100 implements a 3-port EtherCAT slave controller (ESC), licensed from Beckhoff Automation, with 9
Kbytes Process Data RAM, 8 Fieldbus Memory Management Units (FMMUs), 8 Sync-Managers and a 64-bit
Distributed Clock.
Port 0 and 1 integrate embedded Ethernet PHYs, and port 2 is an optional MII interface which are multi-function
pins shared with others interfaces (i.e. PWM, Hall, Local Bus, Digital I/O). Packets are forwarded in the following
order: Port 0->EtherCAT Processing Unit->Port 1->Port 2.
The Process Data Interface (PDI, also name host interface) provides SPI slave, asynchronous 8/16-bit
microcontroller interface (also name Asynchronous Local Bus) and Digital I/O. The SPI slave and asynchronous
8/16-bit Local Bus interface will be used when external MCU in employed the slave system, and the Digital I/O is
used for when direct I/O control.
The AX58100 supports function register mirror from/to ESC memory space, the mirror registers located at process
data memory address from 0x3000 to 0x33FF.
For detailed information on the EtherCAT technology, the EtherCAT core mechanisms, and major features we
refer to the official standard documentations and guidelines available from ETG (www.ethercat.org, ETG.1000),
IEC (http://www.iec.ch, IEC61158, IEC61784-2, IEC 61800-7), and Beckhoff (http://www.beckhoff.de, technical
specification) web sites.
Ethernet PHY
The AX58100 embedded two DSP-based Ethernet PHYs, fully compliant with the 100BASE-TX and
100BASE-FX Ethernet standards such as IEEE 802.3u, and ANSI X3.263-1995 (FDDI-TP-PMD). In copper
mode supports the MDI/MDIX auto-crossover function (HP Auto-MDIX).
Bridge Function
The AX58100 has two memory spaces, one for ESC and one for AX58100 specified functions. The bridge handles
data synchronization between ESC’s memory and function registers, use EthterCAT packet’s SOF, EOF, ESC
control signal, SYNCx and LATx, PDI chip select (ESC and function) asserts and de-assert, the PWM cycle starts,
register writes and register data change, total 13 sources synchronize two space’s register content. Each function
mirror could be enabled independent, the interrupt related registers mirror (INTCR and INTSR) are also enabled
when any function mirror is enabled.
15
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AX58100
EtherCAT Slave Controller
I/O Watchdog
The I/O Watchdog is for AX58100 safety engine and used to monitor I/O signals toggle status, and an emergency
stop input (EMn) pin.When I/O signals don't match a pattern or keeping over excepted time, the watchdog will be
triggered, or EMn input pin asserted, force I/O pads enter default level. The default level is configurable, could be
driven low, high or Tristate.
PWM Controller
The PWM control module provides Pulse Width Modulation (PWM), and alternatively STEP / DIR to control
motor driving. The PWM mode has eight pins (three pairs control signal, each control signal pair has a high pulse
pin (PWMxH), and low pulse pin (PWMxL) control power drive circuit. Another has two alignment pins, PULZ
and PULC point cycle start and central time, three programmable trigger pins, PULA PULB and PULAB. The step
pulse mode has 2 pins, step (STEP) and direction (DIR) connect to step motor controller, share PWM1H/L pins.
The PWM supports up to 12.5MHz output frequency, and programmable polarity, timing adjustment.
Incremental and Hall Encoder Interface
TheAX58100 provides an interface with a linear or rotary incremental encoder to get position information, support
four input modes. The Sin/Cos mode (A / B / Z pins), Clock-Wise mode (CW / CCW / Z pins), Direction-Clock
mode (DIR / CLK / Z pins), and the Hall mode (A / B / C pins). It can accumulate positions in three modes,
Sin/Cos, Clock-Wise and Direction-Clock modes, and calculates the GAP time in Hall mode.
The Sin/Cos mode supports input frequency up to 8.33MHz, CW/CCW, and DIR/CLK up to 16.66MHz, and the
Hall mode up to 2.77MHz respectively.
SPI Master Controller
The Serial Peripheral Interface (SPI) master controller provides a full-duplex, synchronous serial communication
interface (4 wires) to flexibly work with numerous SPI peripheral devices or microcontroller with the SPI slave.
The SPI master controller supports 4 types of interface timing modes, namely, mode 0, 1, 2, and 3 to allow working
with most SPI devices available. It supports MSB/LSB first data transfer.
Supports 8 channels could sequential access per device, variable transfer length up to 8 bytes each channel.
Support multi-channel access to the same device, the data length could be up to 64bytes. For high performance
applications, the SPI master controller supports continues transfer data between the SPI device and data registers.
Provide 4 chip select, support one-cold encode output (up to 4 devices), or use binary encode output (use an
external binary decoder) up to 8 devices.
Support standard SPI device access without glue logic circuit. Support “trigger data ready input” for ADC
application, support “data loaded indication out” and “data path daisy chain” for DAC application.
The MSCLK SPI clock is programmable by software and can run up to 50MHz.
16
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AX58100
EtherCAT Slave Controller
3 Chip Configuration and Memory Map Description
Bootstrap Pins for Chip Configuration
The AX58100 supports five multi-function bootstrap pins (pin 19, 20, 58, 40, and 41) for five hardware
configurations, i.e. external I2C EEPROM size, ESC supported port number, RSTO polarity and integrated port 0/1
PHY media mode; and supports other three multi-function bootstrap pins (pin 42, 52, 66) for the configuration of
port 2 MII signals. User needs to utilize an external resistor to pull up / down these bootstrap pins.
Pins
19
Signal Name
EEP_SIZE
20
3PORT_MODE
58
RSTO_POL
40
P0_FIBER
41
P1_FIBER
66
42
TX_SH[1]
TX_SH[0]
52
LINK_POL
Description
I2C EEPROM Size
0: 1 Kbit to 16Kbit
1: 32Kbit to 4Mbit
ESC port number
0: 2 ports mode
1: 3 ports mode
RSTO Reset Output Polarity
0:Active Low
1:Active High
Port 0 PHY media mode
0: Copper mode
1: Fiber mode
Port 1 PHY Media mode
0: Copper mode
1: Fiber mode
Port 2 MII TXD Align position
2‘b00: Align with MCLK,
2’b01: Delay 1/4 phase with MCLK
2’b10: Delay 1/2 phase with MCLK
2’b11: Delay 3/4 phase with MCLK
Port 2 MII LINK Polarity
0:Active Low
1:Active High
Table 3-1: Bootstrap Pins Configuration
17
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Hardware Configuration EEPROM (HWCFGEE)
The AX58100 I2C master controller supports the communication to external I 2C devices and an I2C Hardware
Configuration EEPROM Loader to support loading the EtherCAT Slave Information (ESI) from external I2C
EEPROM during chip reset. The AX58100 supports I2C EEPROM with EEPROM size from 1 Kbit (128 bytes)
to 4 Mbit (500Kbytes).
The AX58100 I2C Hardware Configuration EEPROM layout is shown in following figure.
EEPROM
Byte Offset
EEPROM
Word Offset
0x00
0x01
0x02
0x03
0x05 - 0x04
0x07 - 0x06
0x09 - 0x08
0x0A
0x0B
0x0C
0x0D
0x0F - 0x0E
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x13 - 0x10
0x17 - 0x14
0x1B - 0x18
0x1F - 0x1C
0x27 - 0x20
0x09 – 0x08
0x0B – 0x0A
0x0D – 0x0C
0x0F – 0x0E
0x13 – 0x10
0x29 - 0x28
0x2B - 0x2A
0x2D - 0x2C
0x2F - 0x2E
0x14
0x15
0x16
0x17
0x31 - 0x30
0x33 - 0x32
0x35 - 0x34
0x37 - 0x36
0x39 - 0x38
0x3F - 0x3A
0x18
0x19
0x1A
0x1B
0x1C
0x1F – 0x1D
ESC Register
Offset
Parameter
ESC Configuration Area
PDI Control
ESC Configuration
(bit 2 is also mapped to ESC register 0x0110.2)
PDI Configuration
Sync/Latch[1:0] Configuration
Pulse Length of SyncSignals
Extended PDI Configuration
Configured Station Alias
Host Interface Extend Setting and Drive Strength
Reserved, shall be zero
Reserved, shall be zero
Multi-Function Select and Drive Strength
Checksum
0x0140
0x0141
0x0150
0x0151
0x0983 - 0x0982
0x0153 - 0x0152
0x0013 - 0x0012
Vendor ID
Product Code
Revision Number
Serial Number
Reserved
Bootstrap Mailbox Config
Bootstrap Receive Mailbox Offset
Bootstrap Receive Mailbox Size
Bootstrap Send Mailbox Offset
Bootstrap Send Mailbox Size
Mailbox Sync Man Config
Standard Receive Mailbox Offset
Standard Receive Mailbox Size
Standard Send Mailbox Offset
Standard Send Mailbox Size
Mailbox Protocol
Reserved
0x3D – 0x20
Reserved
0x3E
Size
0x3F
Version
ESC Category 1 (for AX58100 Bridge Access Configuration if used) *Note1
0x81 ~ 0x80
0x40
Category 1 Type (Default: 0x0001)
0x83 ~ 0x82
0x41
Category 1 Data Size (words) (Default: 0x0021)
0x7B - 0x40
0x7D - 0x7C
0x7F - 0x7E
18
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AX58100
EtherCAT Slave Controller
EEPROM
Byte Offset
0x84
0x85
0x86
0x87
0x88
0x89
0x8A
0x8B
0x8C
0x8D
0x8E
0x8F
0x90
0x91
0x92
0x93
0x94
0x95
0x96
0x97
0x98
0x99
0x9A
0x9B
0x9C
0x9D
0x9E
0x9F
0xA0
0xA1
0xA2
0xA3
0xA4
0xA5
0xA6
0xA7
0xA8
0xA9
0xAA
0xAB
0xAC
0xAD
0xAE
0xAF
0xB0
0xB1
0xB2
EEPROM
Word Offset
0x42
0x43
0x44
0x45
0x46
0x47
0x48
0x49
0x4A
0x4B
0x4C
0x4D
0x4E
0x4F
0x50
0x51
0x52
0x53
0x54
0x55
0x56
0x57
0x58
0x59
Parameter
MCTLR Access Control
PXCFGR Access Control
PTAPPR Access Control
PTBPPR Access Control
PPCR Access Control
PBBMR Access Control
P1CTRLR Access Control
P1SHR Access Control
P1HPWR Access Control
P2CTRLR Access Control
P2SHR Access Control
P2HPWR Access Control
P3CTRLR Access Control
P3SHR Access Control
P3HPWR Access Control
SGTR Access Control
SHPWR Access Control
TDLYR Access Control
STNR Access Control
SCFGR Access Control
SCTRLR Access Control
SCNTR Access Control
ECNTVR Access Control
ECNSTR Access Control
ELATR Access Control
EMODR Access Control
ECLRR Access Control
HALSTR Access Control
WTR Access Control
WCFGR Access Control
WTPVCR Access Control
WMSPR Access Control
WMMR Access Control
WOMR Access Control
WOER Access Control
WOPR Access Control
WTPVR Access Control
SPICFGR Access Control
SPIBRR Access Control
SPIDBSR Access Control
SPIDTR Access Control
SPIRPTR Access Control
SPILTR Access Control
SPIPRLR Access Control
SPI01BCR Access Control
SPI23BCR Access Control
SPI45BCR Access Control
ESC Register
Offset
0x0580
0x0581
0x0582
0x0583
0x0584
0x0585
0x0586
0x0587
0x0588
0x0589
0x058A
0x058B
0x058C
0x058D
0x058E
0x058F
0x0590
0x0591
0x0592
0x0593
0x0594
0x0595
0x0596
0x0597
0x0598
0x0599
0x059A
0x059B
0x059C
0x059D
0x059E
0x059F
0x05A0
0x05A1
0x05A2
0x05A3
0x05A4
0x05A5
0x05A6
0x05A7
0x05A8
0x05A9
0x05AA
0x05AB
0x05AC
0x05AD
0x05AE
19
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
EEPROM
Byte Offset
0xB3
0xB4
0xB5
0xB6
0xB7
0xB8
0xB9
0xBA
0xBB
0xBC
0xBD
0xBE
0xBF
0xC0
0xC1
0xC2
0xC3
0xC4
0xC5
EEPROM
Word Offset
Parameter
SPI67BCR Access Control
SPI03SSR Access Control
0x5A
SPI47SSR Access Control
SPIINTSR Access Control
0x5B
SPITSR Access Control
SPIPOSR Access Control
0x5C
SPI Data Status (SPIDSR and SPIDSMR) Access
Control
SPIC0DR Access Control
0x5D
SPIC1DR Access Control
SPIC2DR Access Control
0x5E
SPIC3DR Access Control
SPIC4DR Access Control
0x5F
SPIC5DR Access Control
SPIC6DR Access Control
0x60
SPIC7DR Access Control
SPIMCR Access Control
0x61
INTCR Access Control
INTSR Access Control
0x62
Function Mirror Enable
Other ESC Categories Information (Subdivided in Categories)
…
Category Strings
Category Generals
Category FMMU
Category SyncManager
Category Tx - / RxPDO for each PDO
ESC Register
Offset
0x05AF
0x05B0
0x05B1
0x05B2
0x05B3
0x05B4
0x05B5
0x05B6
0x05B7
0x05B8
0x05B9
0x05BA
0x05BB
0x05BC
0x05BD
0x05BE
0x05BF
0x05C0
0x05C1
Figure 3-1: AX58100 I2C EEPROM Layout
Note 1: The reserved words or reserved bits of the ESC Configuration Area should be filled with 0.
Note 2: When (re-) configuring the EEPROM from an EtherCAT master system special care must be taken. Not
every master allows writing a category 1 entry to the EEPROM. There are different ways to write this into the
EEPROM for automatically loading access control configuration when AX58100 booting.
1. Use preprogrammed I2C EEPROM.
2. Use a different category, e.g., 2049, first. Then overwrite the upper byte with 0 with a single EEPROM byte
writes.
The AX58100 HWCFGEE contents from offset 0x00 to 0x7F are mandatory, as well as the general category (at
least the minimum I2C EEPROM size is 2Kbit, and for the complex devices with many categories should be
equipped with 32 Kbit EEPROMs or larger). The ESC Configuration Area is used for AX58100 hardware
configuration. All other areas are used by the EtherCAT master or the local application.
The ESC Configuration Area (EEPROM offset 0x00 to 0x0F) is automatically read by AX58100 after
power-on or reset. It contains the PDI configuration, Distributed Clocks settings, and Configured Station
Alias. The consistency of the ESC Configuration Area data is secured with a checksum.
The EtherCAT Master can invoke reloading the EEPROM contents. In this case the Configured Station Alias
register 0x0012:0x0013 and ESC Configuration register bits 0x0141 [1,4,5,6,7] (enhanced link detection) are
not transferred into the registers, they are only transferred at the initial EEPROM loading after power-on or
reset.
20
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AX58100
EtherCAT Slave Controller
To use AX58100 bridge functionalities, users should define the Bridger Access Configuration parameters in the
first category located at EEPROM offset 0x80. The Category Type must be 0x0001and the Category Data Size
must be 0x0020 so the AX58100 will automatically load the EEPROM Bridger Access Configuration parameters
into the Bridge Access Configuration registers memory area starting at 0x0580 after power-on or reset.
3.2.1 EEPROM Contents Detailed Descriptions
PDI Control (0x00)
Bit
7:0
Description
PDI Control[7:0]
0x00: Interface deactivated (no PDI)
0x04: Digital I/O
0x05: SPI Slave
0x08: 16-bit Asynchronous Local Bus
0x09: 8-bit Asynchronous Local Bus
Others: reserved
ESC Configuration (0x01)
Bit
0
1
3:2
4
5
6
7
Description
Device emulation enables (control of AL status)
Enhanced Link detection all ports
Reserved
Enhanced Link port 0
Enhanced Link port 1
Enhanced Link port 2
Reserved
PDI Configuration (0x02)
Digital I/O
Bit
0
1
2
3
5:4
7:6
OUTVALID polarity
OUTVALID mode
Unidirectional/Bidirectional mode
Watchdog behavior
Input DATA is sampled
Output DATA is updated
SPI Slave
Bit
1:0
3:2
4
5
7:6
SPI mode
SPI_IRQ output driver/polarity
SPI_SEL polarity
Data Out sample mode
Reserved
Description
Description
Asynchronous Local Bus
Bit
1:0
BUSY/RDY driver/polarity
3:2
IRQ driver/polarity
4
BHE/Byte Enable polarity
7:5
Reserved
Description
21
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AX58100
EtherCAT Slave Controller
Sync/Latch[1:0] Configuration (0x03)
Bit
1:0
2
3
5:4
6
7
Description
SYNC0 output driver/polarity
SYNC0/LATCH0 configuration
SYNC0 mapped to AL Event Request
SYNC1 output driver/polarity
SYNC1/LATCH1 configuration
SYNC1 mapped to AL Event Request
Pulse Length SyncSignals (0x05 - 0x04)
Bit
15:0
Description
Pulse length of SyncSignal
Extended PDI Configuration (0x07 - 0x06)
Digital I/O / SPI Slave (for GPIO)
Bit
Description
0
Digital I/O or GPIO
Digital I/O or GPIO are configured in pairs (1:0) as inputs or outputs:
0: Input
1: Output
1
3:2 pair (0: Input, 1: Output)
2
5:4 pair (0: Input, 1: Output)
3
7:6 pair (0: Input, 1: Output)
4
9:8 pair (0: Input, 1: Output)
5
11:10 pair (0: Input, 1: Output)
6
13:12 pair (0: Input, 1: Output)
7
15:14 pair (0: Input, 1: Output)
8
17:16 pair (0: Input, 1: Output)
9
19:18 pair (0: Input, 1: Output)
10
21:20 pair (0: Input, 1: Output)
11
23:22 pair (0: Input, 1: Output)
12
25:24 pair (0: Input, 1: Output)
13
27:26 pair (0: Input, 1: Output)
14
29:28 pair (0: Input, 1: Output)
15
31:30 pair (0: Input, 1: Output)
Asynchronous Local Bus
Bit
Description
0
Read BUSY delay
1
Perform internal write
10:2 Reserved
11
23:22 pair (data bus 8-bit width only) (0: Input, 1: Output)
12
25:24 pair (data bus 8-bit width only) (0: Input, 1: Output)
13
27:26 pair (data bus 8-bit width only) (0: Input, 1: Output)
14
29:28 pair (data bus 8-bit width only) (0: Input, 1: Output)
15
31:30 pair (data bus 8-bit width only) (0: Input, 1: Output)
Configured Station Alias (0x09 - 0x08)
Bit
15:0
Description
Alias Address used for node addressing
22
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Host Interface Extend Setting and Drive Strength (0x0A)
Digital I/O
Bit
4:0
Reserved
5
Control Driving Select:
0: 4mA
1: 8mA
6
IO [9:0] Driving Select:
0: 4mA
1: 8mA
7
IO [15:10] Driving Select:
0: 4mA
1: 8mA
Description
SPI Slave / Asynchronous Local Bus
Bit
Description
3:0
Interrupt Edge Pulse Length (INTP_LEN)
Interrupt Edge Pulse = (INTP_LEN+1) * 100ns
4
The trigger type of interrupt signal, SINT / LINT
0: Level trigger.
1: Edge trigger.
5
Control Driving Select:
0: 4mA
1: 8mA
6
IO [9:0] Driving Select:
0: 4mA
1: 8mA
7
IO [15:10] Driving Select:
0: 4mA
1: 8mA
Multi-Function Select and Drive Strength (0x0D)
Bit
0
1
2
3
4
5
Description
IO [9:0] select:
0: IO [9:0]
1: MTRG, MDRLD, MSS[3:0], MINT, MMISO, MMOSI, MSCLK,
Note: in Local Bus mode this bit no function
IO [15:10] (SPI slave separate) select:
0: IO [15:10]
1: IO [15:14], FMOSI, FSCLK, FMISO, SFINT
Note: in Local Bus mode this bit no function
IO [21:16] select:
0: IO [21:16]
1: PULA, PULB, PULZ, PULZ, PULAB,IO [16]
Note: in Local Bus mode this bit no function
IO [25:22]select:
0: IO [25:22]
1: PWM2L, PWM2H, PWM3L, PWM3H
Note: in Local Bus 16 bits mode this bit no function
IO [28:26]select:
0: IO [28:26]
1: EM, PWM1L, PWM1H
Note: in Local Bus 16 bits mode this bit no function
IO [31:29]select:
0: IO [31:29]
1: ENCZ, ENCB, ENCA
Note: in Local Bus 16 bits mode this bit no function
23
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
6
IO[21:16] Driving Select:
0: 4mA
1: 8mA
7
IO[31:22] Driving Select:
0: 4mA
1: 8mA
Note: When MII port 2 enable, the IO[31:16] pins are forced to MII port 2
Checksum (0x0F - 0x0E)
Bit
15: 0
Description
Checksum
Low byte contains remainder of division of EEPROM offset 0x00 to 0x0D as unsigned number
divided by the polynomial X^8+X^2+X+1 (initial value 0xFF)
For debugging purposes, it is possible to disable the checksum validation with a checksum value
of 0x88A4. Note that NEVER use this for production!
Category 1 Type (0x81 - 0x80)
Bit
15:0
Description
Category 1 Type
MUST be 0x0001
Category 1 Data Size (0x83 - 0x82)
Bit
15:0
Description
Category 1 Data Size (words)
MUST be 0x0021
MCTLR Access Control (0x84)
Bit
3:0
4
7:5
Description
Sync. Source Select
0x0: Always triggered
0x1: Start Of Frame (SOF)
0x2: End Of Frame (EOF)
0x3: SYNC0 signal
0x4: LATCH0 signal
0x5: SYNC1 signal
0x6: LATCH1 signal
0x7: After write access
0x8: Trigger when data value changes
0x9: PDI Chip Select Assert
0xA: PDI Chip Select De-assert
0xB: FUNC Chip Select Assert
0xC: FUNC Chip Select De-assert
0xD: Trigger at start of MFC PWM cycle
Others: Always triggered
ESC Access Enable
0: Writeable with Function Host Interface
1: Writeable with ESC
Reserved
The Bit Definitions of the other parameters from EEPROM offset 0x85 to 0xC4 are the same as the Bit Definitions
of EEPROM offset 0x84.
24
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Function Mirror Enable (0xC5)
Bit
0
1
2
3
7:4
Description
PWM function register mirror:
0: Disable PWM function register mirror
1: Enable PWM function register mirror
ENC function register mirror:
0: Disable ENC function register mirror
1: Enable ENC function register mirror
SPI Master function register mirror:
0: Disable SPI Master function register mirror
1: Enable SPI Master function register mirror
IO Watchdog function register mirror:
0: Disable IO Watchdog function register mirror
1: Enable IO Watchdog function register mirror
Reserved
25
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Memory Map
3.3.1 ESC Memory Map
ESC Address
Length
(Bytes)
0x0000
0x0001
0x0002
0x0004
0x0005
0x0006
0x0007
0x0008
1
1
2
1
1
1
1
2
0x0010
0x0012
2
2
0x0020
0x0021
0x0030
0x0031
1
1
1
1
0x0040
0x0041
0x0100
0x0108
0x0110
1
1
4
2
2
0x0120
0x0130
0x0134
0x0138
0x0139
2
2
2
1
1
0x0140
0x0141
0x0150
0x0151
0x0152
1
1
1
1
2
0x0200
0x0204
0x0210
0x0220
2
4
2
4
0x0300
0x0308
0x030C
0x030D
0x030E
0x0310
4x2
4x1
1
1
1
4x1
Description
ESC Information
Type
Revision
Build
FMMUs supported
SyncManagers supported
RAM Size
Port Descriptor
ESC Features supported
Station Address
Configured Station Address
Configured Station Alias
Write Protection
Write Register Enable
Write Register Protection
ESC Write Enable
ESC Write Protection
Data Link Layer
ESC Reset ECAT
ESC Reset PDI
ESC DL Control
Physical Read/Write Offset
ESC DL Status
Application Layer
AL Control
AL Status
AL Status Code
RUN LED Override
ERR LED Override
PDI
PDI Control
ESC Configuration
PDI Configuration
Sync/Latch PDI Configuration
Extended PDI Configuration
Interrupts
ECAT Event Mask
AL Event Mask
ECAT Event Request
AL Event Request
Error Counters
RX Error Counter[3:0]
Forwarded RX Error counter[3:0]
ECAT Processing Unit Error Counter
PDI Error Counter
PDI Error Code
Lost Link Counter[3:0]
26
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
0x0400
0x0410
0x0420
0x0440
0x0442
0x0443
2
2
2
2
1
1
0x0500
0x0501
0x0502
0x0504
0x0508
1
1
2
4
4
0x0510
0x0512
0x0513
0x0514
0x0516
0x0517
0x0518
2
1
1
2
1
1
4
0x0580
0x0581
0x0582
0x0583
0x0584
0x0585
0x0586
0x0587
0x0588
0x0589
0x058A
0x058B
0x058C
0x058D
0x058E
0x058F
0x0590
0x0591
0x0592
0x0593
0x0594
0x0595
0x0596
0x0597
0x0598
0x0599
0x059A
0x059B
0x059C
0x059D
0x059E
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Watchdogs
Watchdog Divider
Watchdog Time PDI
Watchdog Time Process Data
Watchdog Status Process Data
Watchdog Counter Process Data
Watchdog Counter PDI
I2C EEPROM Interface
EEPROM Configuration
EEPROM PDI Access State
EEPROM Control/Status
EEPROM Address
EEPROM Data
MII Management Interface
MII Management Control/Status
PHY Address
PHY Register Address
PHY Data
MII Management ECAT Access State
MII Management PDI Access State
PHY Port Status
Bridge Access Configuration
MCTLR Access Control Register
PXCFGR Access Control Register
PTAPPR Access Control Register
PTBPPR Access Control Register
PPCR Access Control Register
PBBMR Access Control Register
P1CTRLR Access Control Register
P1SHR Access Control Register
P1HPWR Access Control Register
P2CTRLR Access Control Register
P2SHR Access Control Register
P2HPWR Access Control Register
P3CTRLR Access Control Register
P3SHR Access Control Register
P3HPWR Access Control Register
Step Gap Time Access Control Register
SHPWR Access Control Register
TDLYR Access Control Register
Step Target Number Access Control Register
SCFGR Access Control Register
SCTRLR Access Control Register
Step Counter Content Access Control Register
Encoder Counter Value Access Control Register
Encoder Constant Access Control Register
Encoder Latched Access Control Register
EMODR Access Control Register
ECLRR Access Control Register
HALSTR Access Control Register
Watchdog Timer Access Control Register
WCFGR Access Control Register
WTPVCR Access Control Register
27
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
0x059F
0x05A0
0x05A1
0x05A2
0x05A3
0x05A4
0x05A5
0x05A6
0x05A7
0x05A8
0x05A9
0x05AA
0x05AB
0x05AC
0x05AD
0x05AE
0x05AF
0x05B0
0x05B1
0x05B2
0x05B3
0x05B4
0x05B5
0x05B6
0x05B7
0x05B8
0x05B9
0x05BA
0x05BB
0x05BC
0x05BD
0x05BE
0x05BF
0x05C0
0x05C1
0x0600:0x067F
+0x0
+0x4
+0x6
+0x7
+0x8
+0xA
+0xB
+0xC
+0xD
0x0800:0x083F
+0x0
+0x2
+0x4
+0x5
+0x6
+0x7
0x0900:0x09FF
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
4
2
1
1
2
1
1
1
3
2
2
1
1
1
1
Watchdog monitored Polarity Access Control Register
Watchdog monitored Mask Access Control Register
Watchdog Output Mask Access Control Register
Watchdog Output Enable Access Control Register
Watchdog Output Polarity Access Control Register
Watchdog Timer Peak value Access Control Register
SPICFGR Access Control Register
SPIBRR Access Control Register
SPIDBSR Access Control Register
SPIDTR Access Control Register
SPIRPTR Access Control Register
SPILTR Access Control Register
SPIPRLR Access Control Register
SPI01BCR Access Control Register
SPI23BCR Access Control Register
SPI45BCR Access Control Register
SPI67BCR Access Control Register
SPI03SSR Access Control Register
SPI47SSR Access Control Register
SPINTSR Access Control Register
SPITSR Access Control Register
SPIPOSR Access Control Register
SPI Data Status (SPIDSR and SPIDSMR) Access Control Register
SPIC0DR Access Control Register
SPIC1DR Access Control Register
SPIC2DR Access Control Register
SPIC3DR Access Control Register
SPIC4DR Access Control Register
SPIC5DR Access Control Register
SPIC6DR Access Control Register
SPIC7DR Access Control Register
SPIMCR Access Control Register
INTCR Access Control Register
INTSR Access Control Register
Function Mirror Enable Register
FMMU[7:0]
Logical Start Address
Length
Logical Start bit
Logical Stop bit
Physical Start Address
Physical Start bit
Type
Activate
Reserved
SyncManager[7:0]
Physical Start Address
Length
Control Register
Status Register
Activate
PDI Control
Distributed Clocks (DC)
28
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
0x0900
0x0904
0x0908
0x090C
0x0910
0x0918
0x0920
0x0928
0x092C
0x0930
0x0932
0x0934
0x0935
0x0980
0x0981
0x0982
0x0984
0x098E
0x098F
0x0990
0x0998
0x09A0
0x09A4
0x09A8
0x09A9
0x09AE
0x09AF
0x09B0
0x09B8
0x09C0
0x09C8
0x09F0
0x09F8
0x09FC
0x0E00
0x0E08
0x0F00
0x0F10
0x0F18
0x0F80
0x1000
0x1000
DC – Receive Times
Receive Time Port 0
Receive Time Port 1
Receive Time Port 2
Receive Time Port 3
DC – Time Loop Control Unit
4(W)/8(R) System Time
8
Receive Time ECAT Processing Unit
8
System Time Offset
4
System Time Delay
4
System Time Difference
2
Speed Counter Start
2
Speed Counter Diff
1
System Time Difference Filter Depth
1
Speed Counter Filter Depth
DC – Cyclic Unit Control
1
Cyclic Unit Control
DC – SYNC Out Unit
1
Activation
2
Pulse Length of SyncSignals
1
Activation Status
1
SYNC0 Status
1
SYNC1 Status
8
Start Time Cyclic Operation/Next SYNC0 Pulse
8
Next SYNC1 Pulse
4
SYNC0 Cycle Time
4
SYNC1 Cycle Time
DC – Latch In Unit
1
Latch0 Control
1
Latch1 Control
1
Latch0 Status
1
Latch1 Status
8
Latch0 Time Positive Edge
8
Latch0 Time Negative Edge
8
Latch1 Time Positive Edge
8
Latch1 Time Negative Edge
DC – SyncManager Event Times
4
EtherCAT Buffer Change Event Time
4
PDI Buffer Start Event Time
4
PDI Buffer Change Event Time
ESC specific
8
Product ID
8
Vendor ID
Digital Input/Output
4
Digital I/O Output Data
4
General Purpose Outputs
4
General Purpose Inputs
User RAM/Extended ESC features
128
User RAM/Extended ESC Features
Process Data RAM
4
Digital I/O Input Data
8KB
Process Data RAM
4
4
4
4
29
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
0x3000
0x3002
0x3004
0x3006
0x3008
0x300A
0x300C
0x300E
0x3010
0x3012
0x3014
0x3016
0x3018
0x301A
0x301C
0x3020
0x3024
0x3026
0x3028
0x302C
0x302E
0x3040
0x3044
0x304C
0x304E
0x3060
0x3064
0x3066
0x3068
0x306C
0x3070
0x3074
0x3078
0x3080
0x3082
0x3084
0x3086
0x3088
0x308A
0x308C
0x3090
0x3092
0x3094
0x3096
0x3098
0x309A
0x30B0
0x30B8
0x30C0
0x30C8
0x30D0
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
4
2
2
4
2
2
4
4
2
2
4
2
2
4
4
4
4
4
2
2
2
2
2
2
2
2
2
2
2
2
2
8
8
8
8
8
Function Register Mirror (Refer to Section 3.3.2)
Write / Read
Motor Control Register
PWM Pulse X Configure Register
PWM Trigger A Pulse Positon Register
PWM Trigger B Pulse Positon Register
PWM Period Cycle Register
PWM Pulse Break Before Make Register
PWM1Control Register
PWM1 Counter Shift Register
PWM1 High Pulse Width Register
PWM2 Control Register
PWM2 Shift Register
PWM2 High Pulse Width Register
PWM3 Control Register
PWM3 Counter Shift Register
PWM3 High Pulse Width Register
Step Gap Time Register
Step High Pulse Width Register
Direction Transform Delay Step Register
Step Target Number Register
Step Configure Register
Step Control Register
Encoder Counter Value Register
Encoder Constant Register
Encoder Mode configuration Register
Encoder Clear Register
Watchdog Timer Register
Watchdog Control Register
Watchdog Timer Peak Value Clear Register
Watchdog Monitored Signals Polarity Register
Watchdog Monitored Signals Mask Register
Watchdog Output Mask Register
Watchdog Output Enable Register
Watchdog Output Polarity Register
SPI Configure Register
SPI Baud Rate Register
SPI Delay Byte and SS Register
SPI Delay Transfer Register
SPI RDY / Pulse Time Register
SPI LDAC Time Register
SPI Pulse/ RDY/ LDAC Register
SPI 0/1 Byte Count Register
SPI 2/3 Byte Count Register
SPI 4/5 Byte Count Register
SPI 6/7 Byte Count Register
SPI 0/1/2/3 slave Select Register
SPI 4/5/6/7 slave Select Register
SPI Channel 0 Data Register
SPI Channel 1 Data Register
SPI Channel 2 Data Register
SPI Channel 3 Data Register
SPI Channel 4 Data Register
30
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
0x30D8
0x30E0
0x30E8
0x30F2
0x3100
0x3102
8
8
8
2
2
2
0x3230
0x3248
0x3250
0x327C
0x32A8
0x32AA
0x32AC
0x32AE
0x32B0
0x32B8
0x32C0
0x32C8
0x32D0
0x32D8
0x32E0
0x32E8
0x32F0
4
4
2
4
2
2
2
2
8
8
8
8
8
8
8
8
2
SPI Channel 5 Data Register
SPI Channel 6 Data Register
SPI Channel 7 Data Register
SPI Master Control Register
Interrupt Configure Register
Interrupt Status Register
Read Only
Step Counter Content Register
Encoder Latched Register
Hall State Register
Watchdog Timer Peak Value Register
SPI Interrupt Status Register
SPI Timeout Status Register
SPI Pulse Overrun Status Register
SPI Data Status Register
SPI Channel 0 Data Register
SPI Channel 1 Data Register
SPI Channel 2 Data Register
SPI Channel 3 Data Register
SPI Channel 4 Data Register
SPI Channel 5 Data Register
SPI Channel 6 Data Register
SPI Channel 7 Data Register
SPI Data Status Mirror Register
Table 3-2: ESC Memory Map
31
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
3.3.2 Function Register Map
Address
Offset
0x000
0x002
0x004
0x006
0x008
0x00A
0x00C
0x00E
0x010
0x012
0x014
0x016
0x018
0x01A
0x01C
0x020
0x022
0x024
0x026
0x028
0x02A
0x02C
0x02E
0x030
0x032
0x040
0x042
0x044
0x046
0x048
0x04A
0x04C
0x04E
0x050
0x060
0x062
0x064
0x066
0x068
0x06A
0x06C
0x06E
0x070
0x072
0x074
0x076
0x078
0x07A
0x07C
0x07E
0x080
0x082
Name
MCTLR
PXCFGR
PTAPPR
PTBPPR
PPCR
PBBMR
P1CTRLR
P1SHR
P1HPWR
P2CTRLR
P2SHR
P2HPWR
P3CTRLR
P3SHR
P3HPWR
SGTLR
SGTHR
SHPWR
TDLYR
STNLR
STNHR
SCFGR
SCTRLR
SCNTLR
SCNTHR
ECNTVLR
ECNTVHR
ECNSTLR
ECNSTHR
ELATLR
ELATHR
EMODR
ECLRR
HALSTR
WTLR
WTHR
WCFGR
WTPVCR
WMPLR
WMPHR
WMMLR
WMMHR
WOMLR
WOMHR
WOELR
WOEHR
WOPLR
WOPHR
WTPVLR
WTPVHR
SPICFGR
SPIBRR
Description
Motor Control Register
PWM Pulse X Configure Register
PWM Trigger A Pulse Positon Register
PWM Trigger B Pulse Positon Register
PWM Period Cycle Register
PWM Pulse Break Before Make Register
PWM1Control Register
PWM1 Counter Shift Register
PWM1 High Pulse Width Register
PWM2 Control Register
PWM2 Shift Register
PWM2 High Pulse Width Register
PWM3 Control Register
PWM3 Counter Shift Register
PWM3 High Pulse Width Register
Step Gap Time Low Register
Step Gap Time High Register
Step High Pulse Width Register
direction Transform Delay step Register
Step Target Number Low Word Register
Step Target Number High Word Register
Step Configure Register
Step Control Register
Step Counter Content Low Register
Step Counter Content High Register
Encoder Counter value Low Register
Encoder Counter value High Register
Encoder Constant Low Register
Encoder Constant High Register
Encoder Latched Low Register
Encoder Latched High Register
Encoder Mode Configuration Register
Encoder Clear Register
Hall State Register
Watchdog Timer Low Register
Watchdog Timer High Register
Watchdog Configure Register
Watchdog Timer Peak Value Clear
Watchdog
Register
Peak Value Clear Register
Watchdog Monitored Polarity Low Register
Watchdog Monitored Polarity High Register
Watchdog Monitored Mask Low Register
Watchdog Monitored Mask High Register
Watchdog Output Mask Low Register
Watchdog Output Mask High Register
Watchdog Output Enable Low Register
Watchdog Output Enable High Register
Watchdog Output Polarity Low Register
Watchdog Output Polarity High Register
Watchdog Timer Peak Value Low Register
Watchdog Timer Peak Value High Register
SPI Configure Register
SPI Baud Rate Register
32
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
0x084
0x086
0x088
0x08A
0x08C
0x090
0x092
0x094
0x096
0x098
0x09A
0x0A8
0x0AA
0x0AC
0x0AE
0x0B0
0x0B8
0x0C0
0x0C8
0x0D0
0x0D8
0x0E0
0x0E8
0x0F0
0x0F2
0x100
0x102
0x104
0x106
Others
SPIDBSR
SPIDTR
SPIRPTR
SPILTR
SPIPRLR
SPI01BCR
SPI23BCR
SPI45BCR
SPI67BCR
SPI03SSR
SPI47SSR
SPINTSR
SPITSR
SPIPOSR
SPIDSR
SPIC0DR
SPIC1DR
SPIC2DR
SPIC3DR
SPIC4DR
SPIC5DR
SPIC6DR
SPIC7DR
SPIDSMR
SPIMCR
INTCR
INTSR
ESTOR
HSTSR
Reserved
SPI Delay Byte and SS Register
SPI Delay Transfer Register
SPI RDY / Pulse Time Register
SPI LDAC Time Register
SPI Pulse/ RDY/ LDAC Register
SPI 0/1 Byte Count Register
SPI 2/3 Byte Count Register
SPI 4/5 Byte Count Register
SPI 6/7 Byte Count Register
SPI 0/1/2/3 slave Select Register
SPI 4/5/6/7 slave Select Register
SPI Interrupt Status Register
SPI Timeout Status Register
SPI Pulse Overrun Status Register
SPI Data Status Register
SPI Channel 0 Data Register
SPI Channel 1 Data Register
SPI Channel 2 Data Register
SPI Channel 3 Data Register
SPI Channel 4 Data Register
SPI Channel 5 Data Register
SPI Channel 6 Data Register
SPI Channel 7 Data Register
SPI Data Status Mirror Register
SPI Master Control Register
Interrupt Configure Register
Interrupt Status Register
ESC State Override register
Host interface Status Register
Reserved
Table 3-3: Function Register Map
33
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
3.3.3 Memory Map between ESC Memory and Function Registers
Function
Address
0x000
0x002
0x004
0x006
0x008
0x00A
0x00C
0x00E
0x010
0x012
0x014
0x016
0x018
0x01A
0x01C
0x020
0x022
0x024
0x026
0x028
0x02A
0x02C
0x02E
0x030
0x032
0x040
0x042
0x044
0x046
0x048
0x04A
0x04C
0x04E
0x050
0x060
0x062
0x064
0x066
0x068
0x06A
0x06C
0x06E
0x070
0x072
0x074
0x076
0x078
0x07A
0x07C
0x07E
0x080
0x082
ESC Address
R/W
RO
0x3000
0x3002
0x3004
0x3006
0x3008
0x300A
0x300C
0x300E
0x3010
0x3012
0x3014
0x3016
0x3018
0x301A
0x301C
0x3020
-
0x3024
0x3026
-
0x3028
-
0x302C
0x302E
-
-
0x3230
0x3040
-
0x3044
-
-
0x3248
0x304C
0x304E
-
0x3250
0x3060
-
0x3064
0x3066
-
0x3068
-
0x306C
-
0x3070
-
0x3074
-
0x3078
-
-
0x327C
0x3080
0x3082
-
Name
Description
MCTLR
PXCFGR
PTAPPR
PTBPPR
PPCR
PBBMR
P1CTRLR
P1SHR
P1HPWR
P2CTRLR
P2SHR
P2HPWR
P3CTRLR
P3SHR
P3HPWR
SGTLR
SGTHR
SHPWR
TDLYR
STNLR
STNHR
SCFGR
SCTRLR
SCNTLR
SCNTHR
ECNTVLR
ECNTVHR
ECNSTLR
ECNSTHR
ELATLR
ELATHR
EMODR
ECLRR
HALSTR
WTLR
WTHR
WCFGR
WTPVCR
WMPLR
WMPHR
WMMLR
WMMHR
WOMLR
WOMHR
WOELR
WOEHR
WOPLR
WOPHR
WTPVLR
WTPVHR
SPICFGR
SPIBRR
Motor Control Register
PWM Pulse X Configure Register
PWM Trigger A Pulse Positon Register
PWM Trigger B Pulse Positon Register
PWM Period Cycle Register
PWM Pulse Break Before Make Register
PWM1Control Register
PWM1 Counter Shift Register
PWM1 High Pulse Width Register
PWM2 Control Register
PWM2 Shift Register
PWM2 High Pulse Width Register
PWM3 Control Register
PWM3 Counter Shift Register
PWM3 High Pulse Width Register
Step Gap Time Low Register
Step Gap Time High Register
Step High Pulse Width Register
direction Transform Delay step Register
Step Target Number Low Word Register
Step Target Number High Word Register
Step Configure Register
Step Control Register
Step Counter Content Low Register
Step Counter Content High Register
Encoder Counter value Low Register
Encoder Counter value High Register
Encoder Constant Low Register
Encoder Constant High Register
Encoder Latched Low Register
Encoder Latched High Register
Encoder Mode Configuration Register
Encoder Clear Register
Hall State Register
Watchdog Timer Low Register
Watchdog Timer High Register
Watchdog Configure Register
Watchdog Timer Peak Value Clear Register
Watchdog Monitored Polarity Low Register
Watchdog Monitored Polarity High Register
Watchdog Monitored Mask Low Register
Watchdog Monitored Mask High Register
Watchdog Output Mask Low Register
Watchdog Output Mask High Register
Watchdog Output Enable Low Register
Watchdog Output Enable High Register
Watchdog Output Polarity Low Register
Watchdog Output Polarity High Register
Watchdog Timer Peak Value Low Register
Watchdog Timer Peak Value High Register
SPI Configure Register
SPI Baud Rate Register
34
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
0x084
0x086
0x088
0x08A
0x08C
0x090
0x092
0x094
0x096
0x098
0x09A
0x0A8
0x0AA
0x0AC
0x0AE
0x0B0
0x0B8
0x0C0
0x0C8
0x0D0
0x0D8
0x0E0
0x0E8
0x0F0
0x0F2
0x100
0x102
0x3084
0x3086
0x3088
0x308A
0x308C
0x3090
0x3092
0x3094
0x3096
0x3098
0x309A
0x30B0
0x30B8
0x30C0
0x30C8
0x30D0
0x30D8
0x30E0
0x30E8
0x30F2
0x3100
0x3102
0x32A8
0x32AA
0x32AC
0x32AE
0x32B0
0x32B8
0x32C0
0x32C8
0x32D0
0x32D8
0x32E0
0x32E8
0x32F0
-
SPIDBSR
SPIDTR
SPIRPTR
SPILTR
SPIPRLR
SPI01BCR
SPI23BCR
SPI45BCR
SPI67BCR
SPI03SSR
SPI47SSR
SPINTSR
SPITSR
SPIPOSR
SPIDSR
SPIC0DR
SPIC1DR
SPIC2DR
SPIC3DR
SPIC4DR
SPIC5DR
SPIC6DR
SPIC7DR
SPIDSMR
SPIMCR
INTCR
INTSR
SPI Delay Byte and SS Register
SPI Delay Transfer Register
SPI RDY / Pulse Time Register
SPI LDAC Time Register
SPI Pulse/ RDY/ LDAC Register
SPI 0/1 Byte Count Register
SPI 2/3 Byte Count Register
SPI 4/5 Byte Count Register
SPI 6/7 Byte Count Register
SPI 0/1/2/3 slave Select Register
SPI 4/5/6/7 slave Select Register
SPI Interrupt Status Register
SPI Timeout Status Register
SPI Pulse Overrun Status Register
SPI Data Status Register
SPI Channel 0 Data Register
SPI Channel 1 Data Register
SPI Channel 2 Data Register
SPI Channel 3 Data Register
SPI Channel 4 Data Register
SPI Channel 5 Data Register
SPI Channel 6 Data Register
SPI Channel 7 Data Register
SPI Data Status Mirror Register
SPI Master Control Register
Interrupt Configure Register
Interrupt Status Register
Table 3-4: ESC Memory and Function Regiters Mirror Mapping Table
35
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
4 Electrical Specifications
DC Characteristics
4.1.1 Absolute Maximum Ratings
Symbol
VCCK
VCC3IO, VCC33A
VCC12A_PLL
VIN
TSTG
I IN
I OUT
Parameter
Digital core power supply
Power supply of 3.3V I/O and Ethernet PHY
Analog power supply for PLL
Input voltage of 3.3V I/O with 5V tolerant.
Storage temperature.
DC input current.
Output short circuit current.
Rating
- 0.5 to 1.6
- 0.5 to 4.6
- 0.5 to 1.6
- 0.5 to 5.8
- 65 to 150
50
50
Units
V
V
V
V
℃
mA
mA
Note:
Permanent device damage may occur if absolute maximum ratings are exceeded. Functional operation should be
restricted in the recommended operating condition section of this datasheet. Exposure to absolute maximum
rating condition for extended periods may affect device reliability.
4.1.2 Recommended Operating Condition
Symbol
VCC3IO
VCC33A
VCCK
VCC12A_PLL
Tj
Ta
Parameter
Power supply of 3.3V I/O
Analog power supply for Ethernet PHY
Digital core power supply
Analog power supply for PLL
operating junction temperature
Min
2.97
2.97
1.08
1.08
-40
operating ambient temperature
-40
Typ
3.3
3.3
1.2
1.2
25
-
Max Units
3.63
V
3.63
V
1.32
V
1.32
V
125
℃
105
℃
4.1.3 Leakage Current and Capacitance
Symbol
Parameter
IIN Input leakage current.
No pull-up or pull-down.
CIN Input capacitance.
Conditions
Min
3.3V with 5V tolerant I/O pins.
Vin = 5 or 0V.
3.3V with 5V tolerant I/O pins.
-
Typ
< ±1
2.3
Max Units
μA
-
36
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
pF
AX58100
EtherCAT Slave Controller
4.1.4 DC Characteristics of 3.3V with 5V Tolerant I/O Pins
Symbol
VCC3IO
Vil
Vih
VtVt+
Vol
Voh
Vopu (1)
Parameter
Power supply of 3.3V I/O.
Input low voltage.
Input high voltage.
Schmitt trigger negative going threshold
voltage.
Schmitt trigger positive going threshold
voltage
Output low voltage.
Output high voltage.
Output pull-up voltage for 5V tolerant IO
Conditions
3.3V I/O
LVTTL
LVTTL
Iol = 2 ~ 4mA
Ioh = -2 ~ -4mA
With internal
pull-up resistor
Min
2.97
2.0
0.8
Typ
3.3
1.1
Max
3.63
0.8
-
Units
V
V
V
V
-
1.6
2.0
V
2.4
VCC3IO
– 0.9
40
40
-
-
0.4
-
V
V
V
Input pull-up resistance.
75
190
KΩ
Input pull-down resistance.
75
190
KΩ
Input leakage current.
Vin = 5 or 0V
±1
μA
Iin
Input leakage current with pull-up resistance. Vin = 0 V
-45
μA
Input leakage current with pull-down Vin = VCC3IO
45
μA
resistance.
Note: This parameter indicates that the pull-up resistor for the 5V tolerant I/O pins cannot reach VCC3IO DC
level even without DC loading current.
Rpu
Rpd
37
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Power Consumption
Item
Conditions
VCCIO
Digital IO 32 I/O Output
160
Note: Above current values are typical values measured on AX58100 Test board.
VCCK
50
Units
mA
Table 4-1: Power Consumption
Symbol
ΘJC
ΘJA
JT
Description
Thermal resistance of junction to case
Thermal resistance of junction to ambient
Junction to Top of the Package Characterization
Parameter
Condition
Still air
Min
-
Typ
16
28.3
1.49
Max
-
Table 4-2: Thermal Characteristics
38
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
Unit
°C/W
°C/W
°C/W
AX58100
EtherCAT Slave Controller
Power-On-Reset (POR) Specification
Below figures and table shows the two POR circuit spec during power ramp-up/down.
Vrr
Vfr
VCCK
POR Output
Tdrop
Trst
Figure 4-1: Power On Reset (POR) Timing Diagram
Symbol
VCCK
Description
Power supply voltage to be detected
V
VCCK rise relax voltage
-
VCCK fall release voltage
V
rr
fr
Conditions
Min.
1.0
Typ.
1.2
Max.
1.32
Units
V
-
0.72
0.9
V
-
-
0.63
0.85
V
Trst
Reset time after POR trigger up
VCCK slew rate
= 1.0V / 1μs
1.8
2.5
4.8
μs
Tdrop
Drop time of VCCK to reset
VCCK slew rate
= 2.5V / 1μs
0.2
0.4
0.9
μs
Table 4-3: Power On Reset (POR) Timing Table
39
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Power–up Sequence
Trise3
3.3V
VCC3IO/VCC33A
0V
Trise2
T23
1.2V
VCCK
/VCC12A_PLL
0V
Trst
RSTn
Tclk
…
XSCI
Figure 4-2: Power-up Sequence Timing Diagram
Symbol
Parameter
Trise3 3.3V power supply rise time.
Trise2 1.2V power supply rise time.
T23 VCCK rising to 1.2V to VCC3IO
rising to 3.3V interval.
Tclk 25MHz crystal oscillator start-up
time.
Trst
POR asserted low level interval.
Conditions
From 0V to 3.3V.
From 0V to 1.2V.
From VCC3IO rising to 3.3V to
clock stable of 25MHz crystal
oscillator.
From VCCK rising to 1.2V to
POR going high.
Min
-
Typ
0
-
-
60
ms
-
65
-
ms
Table 4-4: Power-up Sequence Timing Table
Note:
1.
2.
The above typical timing data is measured from AX58100 test board.
The Trst typical value is measured from AX58100 test board with the internal POR.
40
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
Max Units
20
ms
20
ms
ms
AX58100
EtherCAT Slave Controller
AC Timing Characteristics
4.5.1 I2C Timing
Figure 4-3: Write access (1 address byte, up to 16 Kbit EEPROMs)
Figure 4-4: Write access (2 address bytes, 32 Kbit - 4 Mbit EEPROMs)
41
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Figure 4-5: Read access (1 address byte, up to 16 Kbit EEPROMs)
Symbol
TClk
TWrite
TRead
TDelay
Parameter
EEPROM clock period
Write access time (without errors)
Read access time
2 words
(without errors):
configuration (8 Words)
Typical
Up to 16 Kbit
32 Kbit-4 Mbit
6.72 (≈ 150 KHz)
250
310
440
500
1.16
Time until configuration loading begins after
Reset is gone
1.22
65.5
Table 4-5: I2C EEPROM Timing Table
42
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
Units
us
us
us
ms
us
AX58100
EtherCAT Slave Controller
4.5.2 Port 2 MII Timing
Figure 4-6: Port 2 MII TX Timing Diagram
Symbol
TCLK25
TTX_delay
TPHY_TX_CLK
Description
TPHY_TX_setup
MCLK output
TX_EN/TXD[3:0] delay after rising edge of MCLK
Delay between MCLK and TX_CLK output of the
PHY
PHY setup time
TPHY_TX_hold
PHY hold time
Min
Typ
Max
Units
-
40
PHY
dependent
-
2
-
ns
ns
ns
-
ns
-
-
ns
PHY
dependent
PHY
dependent
Table 4-6: Port 2 MII TX Timing Table
43
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Figure 4-7: Port 2 MII RX Timing Diagram
Symbol
TRX_CLK
TRX_setup
TRX_hold
Description
Min
Typ
Max
Units
RX_CLK period (100 PPM with maximum FIFO
Size only)
RX_DV/RX_ER/RXD[3:0] valid before rising
edge of RX_CLK
RX_DV/RX_ER/RXD[3:0] valid after rising edge
of RX_CLK
-
40
-
ns
2.1
-
-
ns
0.5
-
-
ns
Table 4-7: Port 2 MII RX Timing Table
44
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Figure 4-8: MDC/MDIO Write access
Figure 4-9: MDC/MDIO Read access
Symbol
TMDC
TWrite
TRead
TMI_startup
Description
Min
MDC period
MI Write access time
MI Read access time
Time between reset end and the first access of MI Link
detection and configuration
Typ
400 (≈ 2.5 MHz)
25.6
25.4
1.34
Table 4-8: MDC/MDIO Timing Table
45
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
Max
Units
ns
us
us
ms
AX58100
EtherCAT Slave Controller
4.5.3 Distributed Clocks SYNC/LATCH
Symbol
TDC_LATCH
TDC_SYNC_Jitter
Description
Min
Time between LATCH 0/1 events
SYNC 0/1 output jitter
Typ
Max
12
Table 4-9: DC SYNC/LATCH timing characteristics
Figure 4-10: LATCH timing
Figure 4-11: SYNC timing
46
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
12
Units
ns
ns
AX58100
EtherCAT Slave Controller
4.5.4
Digital I/O Timing
Figure 4-12: Digital Input: Input data sampled at SOF, IO can be read in the same frame
Figure 4-13: Digital Input: Input data sampled with LATCH_IN
Figure 4-14: Digital Output timing
Figure 4-15: OE_EXT timing
47
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Symbol
TDATA_setup
TDATA_hold
TLAT_IN
TSOF
TSOF_to_DATA_setup
TSOF_to_DATA_hold
Tinput_event_delay
TOUTVLD
TDATA_to_OUTVLD
TWD_TRIG
TDATA_to_WD_TRIG
TOE_EXT_to_DATA_invalid
Toutput_event_delay
TOUT_EXT_valid
TOUT_EXT_invalid
Description
Input data valid before LAT_IN
Input data valid after LAT_IN
LAT_IN high time
SOF high time
Input data valid after SOF, so that Inputs can be
read in the same frame
Input data invalid after SOF
Time between consecutive input events
OUTVLD high time
Output data valid before OUTVLD
WD_TRIG high time
Output data valid after WD_TRIG
Outputs zero or Outputs hi-Z after OE_EXT set to
low
Time between consecutive output events
OUT_EXT valid before OUTVLD
OUT_EXT invalid after OUTVLD
Min
Typ
Max
Units
5
2
4
0
40
-
1.2
ns
ns
ns
ns
us
1.6
440
79
0
80
40
-
20
9.5
us
ns
ns
ns
ns
ns
ns
320
-
80
80
-
ns
ns
ns
Table 4-10: Digital I/O timing Table
48
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
4.5.5
ESC PDI SPI Slave Timing
Figure 4-16: Basic MOSI/MISO timing
Symbol
Description
Min
Typ
Max
21
(≤47MHz)
5
5
-
-
-
-
TSCLK
SCLK frequency
TSEL_to_CLK
TCLK_to_SEL
First SCLK cycle after SCS_ESC asserted
Deassertion of SCS_ESC SPI mode 0/2, SPI mode 1/3
after last SCLK cycle
with normal data out sample
SPI mode 1/3 with late data out TCLK/2+ 5
sample
Only for read access between address/command and first
240
data byte. Can be ignored if BUSY or Wait State Bytes are
used.
Delay between SPI accesses
40
MOSI valid before SCLK edge
3
MOSI valid after SCLK edge
0
MISO valid after SCLK edge
MISO invalid after SCLK edge
0
Internal delay between AL event and SINT output to
enable correct reading of the interrupt registers.
Tread
Taccess_delay
TMOSI_setup
TMOSI_hold
TSCLK_to_MISO_valid
TSCLK_to_MISO_invalid
TIRQ_delay
Units
ns
ns
ns
-
ns
180
Table 4-11 PDI SPI Slave Timing Table
49
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
10.5
-
ns
ns
ns
ns
ns
ns
AX58100
EtherCAT Slave Controller
Figure 4-17: PDI SPI Slave read access (2 byte addressing, 1 byte read data) with Wait State byte
50
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Figure 4-18: PDI SPI Slave read access (2 byte addressing, 2 byte read data) with Wait State byte
51
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Figure 4-19: PDI SPI Slave write access (2 byte addressing, 1 byte write data)
52
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Figure 4-20: PDI SPI Slave write access (3 byte addressing, 1 byte write data)
53
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
4.5.6 Function SPI Slave Timing
Figure 4-21: Function SPI Slave with share pin Timing Diagram
Symbol
TSCLK
TDO
TSU
THD
TCSSP
TDHD
TCSHD
TGN
Description
SCLK clock frequency
MISO data valid time after SCLK edge
MOSI data setup time before SCLK edge
MOSI data hold time after SCLK edge
SCS setup time before MISO active
SCS hold time after SCLK edge
MISO data hold time after SCS de-assert
SCS negation to next SCS assertion time
Min
Typ
Max
Units
9.2
2
2
7.6
21
2.6
40
-
50
-
MHz
ns
ns
ns
ns
ns
ns
ns
Min
Typ
Max
Units
10.5
2
2
7.7
21
2.5
40
-
47.5
-
MHz
ns
ns
ns
ns
ns
ns
ns
Table 4-12: Function SPI with share pin Timing Table
Figure 4-22: Function SPI Slave with individual pin Timing Diagram
Symbol
TFSCLK
TFDO
TFSU
TFHD
TFCSSP
TFDHD
TFCSHD
TFGN
Description
SCLK clock frequency
MISO data valid time after SCLK edge
MOSI data setup time before SCLK edge
MOSI data hold time after SCLK edge
SCS setup time before MISO active
SCS hold time after SCLK edge
MISO data hold time after SCS de-assert
SCS negation to next SCS assertion time
Table 4-13: Function SPI with individual pin Timing Table
54
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
4.5.7 ESC PDI Local Bus Timing
Figure 4-23: PDI Local Bus Read access (without preceding write access)
Figure 4-24: PDI Local Bus Write access (write after rising edge nWR, without preceding write access)
55
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Figure 4-25: PDI Local Bus Sequence of two write accesses and a read access
Note: The first write access to ADR1 is performed after the first rising edge of WR. After that, the ESC is internally busy writing
to ADR1. After CS is deasserted, BUSY is not driven any more, nevertheless, the ESC is still writing to ADR1.
Hence, the second write access to ADR2 is delayed because the write access to ADR1 has to be completed first. So, the second
rising edge of WR must not occur before BUSY is gone. After the second rising edge of WR, the ESC is busy writing to ADR2.
This is reflected with the BUSY signal as long as CS is asserted.
The third access in this example is a read access. The ESC is still busy writing to ADR2 while the falling edge of RD occurs. In
this case, the write access to ADR2 is finished first, and afterwards, the read access to ADR3 is performed. The ESC signals
BUSY during both write and read access
Figure 4-26: PDI Local Bus Write access (write after falling edge LWRn)
56
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
Symbol
TCS_to_BUSY
TADR_BHE_setup
TRD_to_DATA_driven
TRD_to_BUSY
Tread
Tread_int
Tprec_write
TBUSY_to_DATA_valid
TADR_BHE_to_DATA_invalid
TCS_RD_to_DATA_release
TCS_to_BUSY_release
TCS_delay
TRD_delay
TADR_BHE_DATA_setup
TADR_BHE_DATA_hold
TWR_active
TBUSY_to_WR_CS
TWR_to_BUSY
Twrite
Description
Min
Typ
Max
BUSY driven and valid after CS
45
assertion
ADR and BHE valid before RD assertion
0
DATA bus driven after RD assertion
0
BUSY asserted after RD assertion
0
10
External read time (RD assertion to BUSY deassertion) with normal read busy
output (0x0152[0]). Additional 20 ns if delayed read busy output is configured.
without preceding write access or
Tread_int
TWR_to_RD ≥ Tprec_write + TColl or
configuration: write after falling edge of
WR
with preceding write access and
Tread_int +
TWR_to_RD < Tprec_write + TColl
Tprec_write +
TColl TWR_to_RD
8-bit access, absolute worst case
420
with preceding write access
(TWR_to_RD=min, Tprec_write =max,
TColl=max)
16-bit access, absolute worst case with
560
preceding write access
(TWR_to_RD=min, Tprec_write =max,
TColl=max)
Internal read
8-bit access
220
time
16-bit access
300
Time for
8-bit access
180
preceding write 16-bit access
260
access
DATA bus valid normal read busy output
5
after device
delayed read busy
-15
BUSY is
output
deasserted
0
DATA invalid after ADR or BHE change
2.5
7.5
DATA bus released after CS deassertion
or RD deassertion
2.5
8.5
BUSY released after CS deassertion
5
Delay between CS deassertion an
assertion
5
Delay between RD deassertion
and assertion
6.5
ADR, BHE and Write DATA valid before
WR deassertion
2
ADR, BHE and Write DATA valid after
WR deassertion
8.5
WR assertion time
0
WR or CS deassertion after BUSY
deassertion
12
BUSY assertion after WR deassertion
External write time (WR assertion to BUSY deassertion)
0
Configuration: write after falling edge of
WR (act. low)
with preceding write access and
-
Twrite_int
-
Twrite_int -
57
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
Units
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
AX58100
EtherCAT Slave Controller
Twrite_int
TWR_delay
TColl
TWR_to_RD
TCS_WR_overlap
TCS_RD_overlap
TWR_delay < Twrite_int (Write after rising edge
-of WR)
without preceding write access or
TWR_delay ≥ Twrite_int (Write after rising edge
of WR)
8-bit access, absolute worst case with
preceding write access (TWR_delay= min,
TWR_int=max, Write after rising edge of
WR)
16-bit access, absolute worst case with
preceding write access (TWR_delay=min,
TWR_int=max, Write after rising edge of
WR)
Internal write
8-bit access
time
16-bit access
Delay between WR deassertion and
assertion
Extra read delay RD access directly
follows WR access with
the same address (8-bit
accesses or 8-bit WR
and 16-bit RD)
different addresses or
16-bit accesses
Delay between WR deassertion and RD
assertion
Time both CS and WR have to be
deasserted simultaneously (only if
CS is deasserted at all)
Time both CS and RD have to be
deasserted simultaneously (only if
CS is deasserted at all)
TWR_delay
-
0
-
180
-
260
-
-
ns
5
-
180
260
-
-
-
20
ns
ns
0
0
-
-
ns
5
-
-
ns
5
-
-
ns
Table 4-14: PDI Local Bus Timing Table
58
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AX58100
EtherCAT Slave Controller
4.5.8 Function Local Bus Timing
Figure 4-27: Function Local Bus Signal Read Access
Figure 4-28: Function Local Bus Write Access (Late Sample = 0)
Figure 4-29: Function Local Bus Write Access (Late Sample = 1)
59
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AX58100
EtherCAT Slave Controller
Symbol
TCS
TCS2RD
TCS2WR
TRD2CS
TWR2CS
TAS
TAH
TA2D
TRD
TRD2D
TWR
TWR2RDY
TWR2WR
TDS_NOR
TDH_NOR
TDS_LAT
TDH_LAT
Description
LCS_N back to back
LCS_N to LRD_N
LCS_N to LWR_N
LRD_N to LCS_N
LWR_N to LCS_N
LA setup time
LA hold time
LA change to LDA valid
LRD_N pulse
LRD_N to LRDY
LWR_N pulse
LWR_N assert to LRDY assert
LWR_N back to back (late sample)
LDA setup time
LDA hold time
LDA setup time with Late Sample
LDA hold time with Late Sample
Min
Typ
Max
Units
30
0
0
0
0
0
0
-
-
40
80
60
-
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
TRD2D
30
100
0
40
10
10
Table 4-15: Function Local Bus Access Timing
60
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AX58100
EtherCAT Slave Controller
4.5.9 PWM Motor Controller Timing
Figure 4-30: PWMx Timing
Symbol
TPPC
TPxHP
TPxLP
Description
PWM Period Cycle
PWM x High pulse Width set by PxHPWR
PWM x Low pulse Width set by PxHPWR
Pulse width for PULZ, PULC, PULA, PULB, and
PULAB
PWM Trigger Pulse A Position in PWM Period
TPAPP
Cycle
PWM Trigger Pulse B Position in PWM Period
TPBPP
Cycle
Note *1: “x” = 1 ~ 3
TPXHPW
EN8X
Min
Typ
Max
Units
x1
x8
x1
x8
x1
x8
x1
x8
x1
x8
x1
x8
-
PPC * 10
PPC * 80
PxHPV * 10*1
PxHPV * 80*1
PxHPV * 10*1
PxHPV * 80*1
PXHPW * 10
PXHPW * 80
PTAPP * 10
PTAPP * 80
PTBPP * 10
PTBPP * 80
-
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
Table 4-16: PWMx Timing Table
61
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AX58100
EtherCAT Slave Controller
Figure 4-31: Only PWM Channel 2 Shift Diagram
Symbol
TP1SHT
TP2SHT
TP3SHT
Description
PWM pulse was postponed raising time
(addition with P1SHR) and the pulse width stays
the same
Please reference TP1SHT content
Please reference TP1SHT content
EN8X Min
x1
x8
x1
x8
x1
x8
-
Typ
Max Units
P1SHIFT * 10
P1SHIFT * 80
-
ns
P2SHIFT * 10
P2SHIFT * 80
P3SHIFT * 10
P3SHIFT * 80
-
ns
ns
ns
ns
Table 4-17: PWMx Shift Timin Table
62
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
ns
AX58100
EtherCAT Slave Controller
Figure 4-32: BBM (Break Before Make) Timing Diagram
Symbol
TBBMH
TBBML
Description
High pulse was postponed raising and reduce
pulse width
Low pulse was postponed falling and
addition pulse width
EN8X
x1
x8
x1
x8
Min
Typ
Max
Units
-
PBBMH * 10
PBBMH * 80
PBBML * 10
PBBML * 80
-
ns
ns
ns
ns
Table 4-18: PWMx BBM Timing Table
Figure 4-33: One Shot with multi Step Timing Diagram
Symbol
TSGT
Description
Step Pulse to Pulse Gap time set by SGTLR and SGTHR
Step Pulse Width set by SHPWR
TSPW
TSPDY
Note: Step frequency = 1/( TSPW +TSGT)
Direction Transform Delay Time set by TDLYR
Min
Typ
Max
Units
-
SGT * 10
-
ns
-
SPW * 10
-
ns
-
SPDT * 10
-
ns
Table 4-19: Step function timing table
63
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AX58100
EtherCAT Slave Controller
4.5.10 Incremental and Hall Encoder Interface Timing
Figure 4-34: ABZ Timing Diagram
Figure 4-35: CW/CCW Timing Diagram
Figure 4-36: CLK/DIR Timing Diagram
Figure 4-37: Hall Timing Diagram
64
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AX58100
EtherCAT Slave Controller
Symbol
TSK
TZ
TCWH
TCWL
TCCWH
TCCWL
TCLKH
TCLKL
TC2D
TD2C
THK
Description
AB state keep time
Z Pulse Width
CW high time
CW low time
CCW high time
CCW low time
CLK high time
CLK low time
CLK to DIR time
DIR to CLK time
Hall state keeps time
Min
Typ
Max
Units
30
30
30
30
30
30
30
30
30
30
60
-
-
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
Table 4-20: Incremental and Hall Encoder Timing Table
65
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AX58100
EtherCAT Slave Controller
4.5.11 SPI Master Timing
MSS[x]
TDBS1
TDBS2
TDBS3
TDT1
TSCLKH
MSCLK
TSCLKL
8bits
8bits
Figure 4-38: SPI Master Timing
MSCLK
MMISO
Normal
TMISET
TMIHD
MMISO
Late Sample
TMISET
TMIHD
MMOSI
TMODLY
Figure 4-39: MMISO/MMOSI Timing
66
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AX58100
EtherCAT Slave Controller
MSS[x]
TRT
MDRLD
(RDY_pol = 0)
Figure 4-40: SPI MDRLD Ready Timeout Timing
MSS[x]
TPT
MINT
MTRG
(Pulse_pol = 0)
Figure 4-41: SPI MTRG Trigger Pulse Timeout
MSS[x]
TLDACG
MDRLD
(LDAC_pol = 0)
TLDACW
Figure 4-42: SPI MDRLD Trigger LDAC Gap and Width Timing
67
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AX58100
EtherCAT Slave Controller
Symbol
Description
Min
Typ
TSCLKH +
TSCLKL
5 * Divide
5 * Divide
Max Units
Clock
TSCLK
MSCLK Period
-
TSCLKH
TSCLKL
MSCLK high
MSCLK low
-
Bus Timing
MSS[x] to MSCLK (Mode0/1 without DBS1K)
MSS[x] to MSCLK (Mode2/3 without DBS1K)
MSS[x] to MSCLK (Mode0/1 with DBS1K)
-
TDBS1
MSS[x] to MSCLK (Mode2/3 with DBS1K)
TDBS2
Byte to byte (Mode0/1 without DBS1K)
Byte to byte (Mode2/3 without DBS1K)
Byte to byte (Mode0/1 with DBS1K)
Byte to byte (Mode2/3 with DBS1K)
TDBS3
MSCLK to MSS[x] (Mode0/1 without DBS1K)
MSCLK to MSS[x](Mode2/3 without DBS1K)
MSCLK to MSS[x](Mode0/1 with DBS1K)
MSCLK to MSS[x](Mode2/3 with DBS1K)
TDT1
TMISET
TMIHD
TMODLY
TRT
TPT
TLDACG
MSS[x] gap (without DT1K)
MSS[x] gap (with DT1K)
MMISO setup time
MMISO hold time
MMOSI output delay
MDRLD ready timeout (RDY mode)
MTRG timeout
MDRLD Gap (LDAC mode)
TLDACW
MDRLD Width (LDAC mode)
-
ns
-
ns
ns
(DBS + 1) * Tsclk
(DBS + 0.5) * Tsclk
((1024 * (DBS + 1)) + 1) *
Tsclk
((1024 * (DBS + 1)) + 0.5) *
Tsclk
(DBS + 0.5) * Tsclk
(DBS + 0.5) * Tsclk
((1024 * (DBS + 1)) + 0.5) *
Tsclk
((1024 * (DBS + 1)) + 0.5) *
Tsclk
(DBS + 0.5) * Tsclk
(DBS + 1.0) * Tsclk
((1024 * (DBS + 1)) + 0.5) *
Tsclk
((1024 * (DBS + 1)) + 1.0) *
Tsclk
(DT + 2) * Tsclk
(1024 * (DT + 1) + 2) * Tsclk 10.5
0
0.5
(1 + SPIRPT) * 1024 * Tsclk
(1 + SPIRPT) * 1024 * Tsclk
((LDACG1K * 1023) + 1) *
(LDGAP + 1) * Tsclk
(LDACG1K * 1023 + 1) *
(LDWID + 1) * Tsclk
Table 4-21: SPI Master Timing Table
68
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
AX58100
EtherCAT Slave Controller
5 Package Information
69
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AX58100
EtherCAT Slave Controller
6 Ordering Information
Part Number
AX58100 LT
Description
80-pin LQFP lead Free package, Industrial temperature range: -40 to 105°C.
7 Revision History
Revision
V0.20
V0.30
V1.00
V1.01
V1.02
V1.03
Date
Comments
2018/06/11 Preliminary release.
2018/07/27 1. Changed the pin name, type and descriptions of pin #56 in Section 1.3, 1.4.
2. Removed the “VCC33D” descriptions in Section 14.
3. Modified some descriptions in Section 2.1, 3.2.1, 9.2, 9.4.1.
4. Updated Figure 0-1.
2018/09/26 1. Changed some pin definitions in Section 1.4.
2. Added a new bootstrap pin definition in Section 3.1.
3. Modified some EEPROM layout and bit definitions in Section 3.2.
4. Changed the default value of EEPROM word offset 0x41 to 0x0021.
5. Modified some ESC Memory Map and Function Registers Map definitions in
Section 3.3.
6. Updated some timing spec. and waveforms in Section 4.
7. Modified some descriptions in Features and Section 1.1, 2.
8. Updated Figure 1-1, 1-2.
2018/10/05 1. Modified some descriptions in Section 1.1, 2.4, 3, 5.
2. Corrected a typo in Figure 1-2.
2018/11/07 1. Modified a typo in Section 6.
2019/02/20 1. Modified some information in Section 4.2.
2. Updated some description in Section 5.
70
Copyright © 2018-2019 ASIX Electronics Corporation. All rights reserved.
AX58100
EtherCAT Slave Controller
4F, No. 8, Hsin Ann Rd., HsinChu Science Park,
HsinChu, Taiwan, R.O.C.
TEL: 886-3-5799500
FAX: 886-3-5799558
Email: support@asix.com.tw
Web: http://www.asix.com.tw
71
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