SPRU566T June   2003  – November 2024 F29H850TU , F29H859TU-Q1 , SM320F28335-EP , TMS320C28341 , TMS320C28342 , TMS320C28343 , TMS320C28343-Q1 , TMS320C28344 , TMS320C28345 , TMS320C28346 , TMS320C28346-Q1 , TMS320F2800132 , TMS320F2800133 , TMS320F2800135 , TMS320F2800137 , TMS320F2800152-Q1 , TMS320F2800153-Q1 , TMS320F2800154-Q1 , TMS320F2800155 , TMS320F2800155-Q1 , TMS320F2800156-Q1 , TMS320F2800157 , TMS320F2800157-Q1 , TMS320F280021 , TMS320F280021-Q1 , TMS320F280023 , TMS320F280023-Q1 , TMS320F280023C , TMS320F280025 , TMS320F280025-Q1 , TMS320F280025C , TMS320F280025C-Q1 , TMS320F280033 , TMS320F280034 , TMS320F280034-Q1 , TMS320F280036-Q1 , TMS320F280036C-Q1 , TMS320F280037 , TMS320F280037-Q1 , TMS320F280037C , TMS320F280037C-Q1 , TMS320F280038-Q1 , TMS320F280038C-Q1 , TMS320F280039 , TMS320F280039-Q1 , TMS320F280039C , TMS320F280039C-Q1 , TMS320F280040-Q1 , TMS320F280040C-Q1 , TMS320F280041 , TMS320F280041-Q1 , TMS320F280041C , TMS320F280041C-Q1 , TMS320F280045 , TMS320F280048-Q1 , TMS320F280048C-Q1 , TMS320F280049 , TMS320F280049-Q1 , TMS320F280049C , TMS320F280049C-Q1 , TMS320F2801 , TMS320F2801-Q1 , TMS320F28015 , TMS320F28016 , TMS320F28016-Q1 , TMS320F2802 , TMS320F2802-Q1 , TMS320F28020 , TMS320F280200 , TMS320F28021 , TMS320F28022 , TMS320F28022-Q1 , TMS320F280220 , TMS320F28023 , TMS320F28023-Q1 , TMS320F280230 , TMS320F28026 , TMS320F28026-Q1 , TMS320F28026F , TMS320F28027 , TMS320F28027-Q1 , TMS320F280270 , TMS320F28027F , TMS320F28027F-Q1 , TMS320F28030 , TMS320F28030-Q1 , TMS320F28031 , TMS320F28031-Q1 , TMS320F28032 , TMS320F28032-Q1 , TMS320F28033 , TMS320F28033-Q1 , TMS320F28034 , TMS320F28034-Q1 , TMS320F28035 , TMS320F28035-Q1 , TMS320F28044 , TMS320F28050 , TMS320F28051 , TMS320F28052 , TMS320F28052-Q1 , TMS320F28052F , TMS320F28052F-Q1 , TMS320F28052M , TMS320F28052M-Q1 , TMS320F28053 , TMS320F28054 , TMS320F28054-Q1 , TMS320F28054F , TMS320F28054F-Q1 , TMS320F28054M , TMS320F28054M-Q1 , TMS320F28055 , TMS320F2806 , TMS320F2806-Q1 , TMS320F28062 , TMS320F28062-Q1 , TMS320F28062F , TMS320F28062F-Q1 , TMS320F28063 , TMS320F28064 , TMS320F28065 , TMS320F28066 , TMS320F28066-Q1 , TMS320F28067 , TMS320F28067-Q1 , TMS320F28068F , TMS320F28068M , TMS320F28069 , TMS320F28069-Q1 , TMS320F28069F , TMS320F28069F-Q1 , TMS320F28069M , TMS320F28069M-Q1 , TMS320F28075 , TMS320F28075-Q1 , TMS320F2808 , TMS320F2808-Q1 , TMS320F2809 , TMS320F2810 , TMS320F2810-Q1 , TMS320F2811 , TMS320F2811-Q1 , TMS320F2812 , TMS320F2812-Q1 , TMS320F28232 , TMS320F28232-Q1 , TMS320F28234 , TMS320F28234-Q1 , TMS320F28235 , TMS320F28235-Q1 , TMS320F28332 , TMS320F28333 , TMS320F28334 , TMS320F28335 , TMS320F28335-Q1 , TMS320F28374D , TMS320F28374S , TMS320F28375D , TMS320F28375S , TMS320F28375S-Q1 , TMS320F28376D , TMS320F28376S , TMS320F28377D , TMS320F28377D-EP , TMS320F28377D-Q1 , TMS320F28377S , TMS320F28377S-Q1 , TMS320F28379D , TMS320F28379D-Q1 , TMS320F28379S , TMS320F28384D , TMS320F28384S , TMS320F28386D , TMS320F28386S , TMS320F28388D , TMS320F28388S , TMS320F28P550SJ , TMS320F28P559SJ-Q1 , TMS320F28P650DH , TMS320F28P650DK , TMS320F28P650SH , TMS320F28P650SK , TMS320F28P659DH-Q1 , TMS320F28P659DK-Q1 , TMS320F28P659SH-Q1 , TMS320R2811

 

  1.   1
  2.   Read This First
    1.     About This Manual
    2.     Related Documentation from Texas Instruments
    3.     Support Resources
    4.     Trademarks
  3. 1Abbreviations
    1. 1.1 Gen 1 Device Abbreviations
    2. 1.2 Gen 2 Device Abbreviations
    3. 1.3 Gen 3 Device Abbreviations
    4. 1.4 Gen 4 Device Abbreviations
  4. 2Peripherals Available Per Device
    1. 2.1 Gen 1 Device Peripherals
      1. 2.1.1 TMS320x280x, TMS320x2801x Peripherals
      2. 2.1.2 TMS320x281x Peripherals
      3. 2.1.3 TMS320F2823x Peripherals
      4. 2.1.4 TMS320F2833x Peripherals
      5. 2.1.5 TMS320x2834x Peripherals
    2. 2.2 Gen 2 Device Peripherals
      1. 2.2.1 TMS320F2802x Peripherals
      2. 2.2.2 TMS320F2803x Peripherals
      3. 2.2.3 TMS320x2804x Peripherals
      4. 2.2.4 TMS320F2805x Peripherals
      5. 2.2.5 TMS320F2806x Peripherals
      6. 2.2.6 TMS320F28M35x Peripherals
      7. 2.2.7 TMS320F28M36x Peripherals
    3. 2.3 Gen 3 Device Peripherals
      1. 2.3.1  TMS320F2807x Peripherals
      2. 2.3.2  TMS320F28002x Peripherals
      3. 2.3.3  TMS320F28003x Peripherals
      4. 2.3.4  TMS320F28004x Peripherals
      5. 2.3.5  TMS320F280013x Peripherals
      6. 2.3.6  TMS320F280015x Peripherals
      7. 2.3.7  TMS320F2837xD Peripherals
      8. 2.3.8  TMS320F2837xS Peripherals
      9. 2.3.9  TMS320F2838x Peripherals
      10. 2.3.10 TMS320F28P55x Peripherals
      11. 2.3.11 TMS320F28P65x Peripherals
    4. 2.4 Gen 4 Device Peripherals
      1. 2.4.1 F29H85x and F29P58x Peripherals
  5. 3Peripheral Descriptions
    1. 3.1 Coprocessor and CPU Extended Instruction Sets
      1. 3.1.1 Control Law Accelerator (CLA) Module
      2. 3.1.2 Floating-Point Unit (FPU)
      3. 3.1.3 Viterbi, Complex Math, and CRC Unit (VCU)
      4. 3.1.4 Cyclic Redundancy Check (VCRC) Module
      5. 3.1.5 Trigonometric Math Unit (TMU)
    2. 3.2 System Peripherals
      1. 3.2.1  Advance Encryption Standard (AES) Accelerator Module
      2. 3.2.2  Background CRC-32 (BGCRC) Module
      3. 3.2.3  Boot ROM
      4. 3.2.4  Crossbar (X-BAR) Module
      5. 3.2.5  Data Logger and Trace (DLT) Module
      6. 3.2.6  Direct Memory Access (DMA) Module
      7. 3.2.7  Dual-Clock Comparator (DCC) Module
      8. 3.2.8  Embedded Pattern Generator (EPG) Module
      9. 3.2.9  Embedded Real-time Analysis and Diagnostic (ERAD) Module
      10. 3.2.10 Error Aggregator Module
      11. 3.2.11 Error Signaling Module (ESM)
      12. 3.2.12 External Memory Interface (EMIF)
      13. 3.2.13 External Peripheral Interface (EPI)
      14. 3.2.14 Event Manager (EV) Module
      15. 3.2.15 External Interface (XINTF) Module
      16. 3.2.16 Hardware Built-in Self-Test (HWBIST) Module
      17. 3.2.17 Host Interface Controller (HIC) Module
      18. 3.2.18 Interprocessor Communication (IPC) Module
      19. 3.2.19 Lockstep Comparator Module (LCM)
      20. 3.2.20 Logic Power On Self-Test (LPOST) Module
      21. 3.2.21 Memory Power On Self-Test (MPOST) Module
      22. 3.2.22 Micro Cyclic Redundancy Check (µCRC) Module
      23. 3.2.23 Neural-Network Processing Unit (NPU)
      24. 3.2.24 Peripheral Interrupt Priority and Expansion (PIPE) Module
      25. 3.2.25 Real Time Direct Memory Access (RTDMA) Module
      26. 3.2.26 Safety and Security Unit (SSU)
      27. 3.2.27 Watchdog Module
      28. 3.2.28 NMI Watchdog (NMIWD) Module
      29. 3.2.29 Waveform Analyzer Diagnostic (WADI)
      30. 3.2.30 System Control and Interrupts
    3. 3.3 Control Peripherals
      1. 3.3.1  Analog-to-Digital Converter (ADC) Modules
        1. 3.3.1.1 Analog-to-Digital Converter (ADC) Module
        2. 3.3.1.2 Analog-to-Digital Converter (ADC) Wrapper Module
      2. 3.3.2  Configurable Logic Block (CLB) Module
      3. 3.3.3  Comparator (COMP) Module
      4. 3.3.4  Comparator Subsystem (CMPSS) Module
      5. 3.3.5  Comparator Subsystem LITE (CMPSS_LITE) Module
      6. 3.3.6  Digital-to-Analog Converter (DAC) Module
      7. 3.3.7  Enhanced Capture (eCAP) Module
      8. 3.3.8  Enhanced Pulse Width Modulator (ePWM) Module
      9. 3.3.9  Enhanced Quadrature Encoder Pulse (eQEP) Module
      10. 3.3.10 High-Resolution Capture (HRCAP) Module
      11. 3.3.11 InstaSPIN™ Solutions
        1. 3.3.11.1 InstaSPIN-FOC™
        2. 3.3.11.2 InstaSPIN-MOTION™
      12. 3.3.12 Programmable Gain Amplifier (PGA) Module
      13. 3.3.13 Sigma Delta Filter Module (SDFM)
    4. 3.4 Communication Peripherals
      1. 3.4.1  Controller Area Network (DCAN) Module
      2. 3.4.2  Enhanced Controller Area Network (eCAN) Module
      3. 3.4.3  EtherCAT® SubordinateDevice Controller (ESC)
      4. 3.4.4  Ethernet Media Access Controller (EMAC) Module
      5. 3.4.5  Fast Serial Interface (FSI) Module
      6. 3.4.6  Inter-Integrated Circuit (I2C) Module
      7. 3.4.7  M3 Inter-Intergrated Circuit (I2C) Module
      8. 3.4.8  Local Interconnect Network (LIN) Module
      9. 3.4.9  Modular Controller Area Network (MCAN) Module
      10. 3.4.10 Multichannel Buffered Serial Port (McBSP) Module
      11. 3.4.11 Power Management Bus (PMBus) Module
      12. 3.4.12 Serial Communications Interface (SCI) Module
      13. 3.4.13 Serial Peripheral Interface (SPI) Module
      14. 3.4.14 Single Edge Nibble Transmission (SENT) Module
      15. 3.4.15 Synchronous Serial Interface (SSI) Module
      16. 3.4.16 Universal Asynchronous Receiver/Transmitter (UART) Module
      17. 3.4.17 Universal Parallel Port (uPP) Module
      18. 3.4.18 Universal Serial Bus (USB) Module
  6. 4Revision History

3.4.3 EtherCAT® SubordinateDevice Controller (ESC)

Note: Texas Instruments is transitioning to use more inclusive terminology. Some language may be different than what you would expect to see for certain technology areas.

Ethernet for Control Automation Technology (EtherCAT®) is an Ethernet-based field bus system, invented by Beckhoff Automation and is standardized in IEC 61158. All the SubordinateDevice nodes connected to the bus interpret, process, and modify the data addressed to the nodes in progress, without having to buffer the frame inside the node.

The frames are directly forwarded with minimum additional delay. This real-time behavior, frame processing and forwarding requirements are implemented by the EtherCAT SubordinateDevice controller hardware. The EtherCAT does not require software interaction for data transmission inside the SubordinateDevice nodes. The EtherCAT only defines the MAC layer while the higher layer protocols and stack are implemented in software on the microcontrollers connected to the ESC.

Refer to the device-specific technical reference manual for more information.

Table 3-50 lists the ESC types, including device-specific differences within each type.

Table 3-50 EtherCAT® SubordinateDevice Controller (ESC) Module Type Description
TypeDescriptionDevices CoveredDevice-Specific Options
0Original ESC Module Type2838x, 28P65x, 29H85x, 29P58x–