Renesas RZ/T2M, User Manual

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Renesas Starter Kit+ for RZ/T2M 5. User Circuitry
R20UT4939EG0100 Rev. 1.00 Page 28 of 87
Apr 20, 2022
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.
Table 5-21: Ethernet Connections (ESC0/ESC1/ESC2)
Ethernet signal Function
MPU
Port Pin
ESC_LEDRUN EtherCAT RUN LED signal output port P20_2 A10
ESC_IRQ EtherCAT IRQ signal output port P17_0 J15
ESC_LEDERR EtherCAT Error LED signal output port P20_3 C9
ESC_LINKACT0 EtherCAT link / Activity LED signal output port P20_1 C11
ESC_LINKACT1 EtherCAT link / Activity LED signal output port P20_4 B10
ESC_LINKACT2 EtherCAT link / Activity LED signal output port P21_0 A9
ESC_SYNC0 EtherCAT SYNC0 signal output port P13_6 R18
ESC_SYNC1 EtherCAT SYNC1 signal output port P13_6 R18
ESC_LATCH0 EtherCAT LATCH0 signal input port P13_5 N16
ESC_LATCH1 EtherCAT LATCH1 signal input port P13_5 N16
ESC_RESETOUT# EtherCAT reset signal output port P20_7 E10
EEPROM_SCL EtherCAT EEPROM I 2 C clock output port P20_5 F10
EEPROM_SDA EtherCAT EEPROM I 2 C data signal I/O port P20_6 C10
ETH0_LINK EtherCAT PHY0 link status signal input port P10_4 R11
ETH1_LINK EtherCAT PHY1 link status signal input port P05_5 R1
ETH2_LINK EtherCAT PHY2 link status signal input port P00_5 G5