Ethercat Slave Controller (Esc) - Renesas RZ/T2M User Manual

Renesas Starter Kit+ for RZ/T2M
5.14

EtherCAT Slave Controller (ESC)

To run the EtherCAT slave controller software, the EtherCAT ID number is required. Please use SW3 as
necessary.
The CPU board has an EtherCAT slave controller (ESC) and is connected to the ESC module of the
microprocessor. EtherCAT status LEDs are listed in section 5.4. The EtherCAT connections to and from the
MPU are shown in Table 5-15, Table 5-16, Table 5-17, Table 5-18, Table 5-21 below.
Note that ESC port 2 cannot be used at the same time as SDRAM.
Ethernet signal
ESC_LEDRUN
ESC_IRQ
ESC_LEDERR
ESC_LINKACT0
ESC_LINKACT1
ESC_LINKACT2
ESC_SYNC0
ESC_SYNC1
ESC_LATCH0
ESC_LATCH1
ESC_RESETOUT#
EEPROM_SCL
EEPROM_SDA
ETH0_LINK
ETH1_LINK
ETH2_LINK
R20UT4939EG0100 Rev. 1.00
Apr 20, 2022
Table 5-21: Ethernet Connections (ESC0/ESC1/ESC2)
EtherCAT RUN LED signal output port
EtherCAT IRQ signal output port
EtherCAT Error LED signal output port
EtherCAT link / Activity LED signal output port
EtherCAT link / Activity LED signal output port
EtherCAT link / Activity LED signal output port
EtherCAT SYNC0 signal output port
EtherCAT SYNC1 signal output port
EtherCAT LATCH0 signal input port
EtherCAT LATCH1 signal input port
EtherCAT reset signal output port
EtherCAT EEPROM I
EtherCAT EEPROM I
EtherCAT PHY0 link status signal input port
EtherCAT PHY1 link status signal input port
EtherCAT PHY2 link status signal input port
Function
2 C clock output port
2 C data signal I/O port
5. User Circuitry
MPU
Port Pin
P20_2 A10
P17_0 J15
P20_3 C9
P20_1 C11
P20_4 B10
P21_0 A9
P13_6 R18
P13_6 R18
P13_5 N16
P13_5 N16
P20_7 E10
P20_5 F10
P20_6 C10
P10_4 R11
P05_5 R1
P00_5 G5
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