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AMIC110: Method to read ESC register

Ryuuichi machida
Guru 12640 points
Part Number: AMIC110

Hello,

I would like you to ask about below.

* Is there any method to read ESC register from ethercat slave side ?

In general ethercat master can read ESC register. However, when FCS error is occured, I guess that master can not read ESC register.

Then, I have following questions.

* Is my above understanding " when FCS error is occured, I guess that master can not read ESC register" correct ?

* If above is yes, how user can confirm error status ? (I think that user should read ESC register (0x0300-0x0307) from slave side, but I think I suspect this approach is correct..)

   Or, In slave side, user can just confirm "ERROR_CRC" bit of PRU register ?

Best Regards,

  • 0
    TI__Mastermind 27774 points

    Hi

    Ryuuichi machida said:
    Is there any method to read ESC register from ethercat slave side ?

    Yes, you can use HW_EscReadWord() API for that purpose. It is defined in "PRU-ICSS-EtherCAT_Slave_*\protocols\ethercat_slave\include\tieschw.h"

    Ryuuichi machida said:

    * Is my above understanding " when FCS error is occured, I guess that master can not read ESC register" correct ?

    * If above is yes, how user can confirm error status ? (I think that user should read ESC register (0x0300-0x0307) from slave side, but I think I suspect this approach is correct..)


    When FCS error occurs, master won't see the packet. But it can also detect as there won't be response to the master request.

    Slave has no way of detecting CRC error in TX frames (from slave). It won't help to read from slave side. Whether you read from master or slave side, the effect is same. But if the frame is not reaching master, it will help to detect which slave is transmitting error by reading 0x300-0x307 from slave side of next slave in the chain.


    Regards
    Dhaval Khandla