EtherCAT Communication
Communication Principles
24.02.2008
EtherCAT Communication
Agenda
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
EtherCAT Basics
Slave Structure
Device Model
Physical Layer
Data Link Layer
Frame Structure
Addressing, Commands
Memory, SyncManager, FMMUs
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox (Mailbox Protocols)
Slave Information Interface (EEPROM)
Device Profiles
Device Description
Tools (Configuration Tool, Monitor, )
EtherCAT Master
Standard & References
EtherCAT Communication
Car
27
Slave Device
Slave Device
EtherCAT Slave
Controller
EtherCAT Slave
Controller
EtherCAT Communication
Topology
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Flexible Topology
Line
Daisy chain
Daisy chain with branches
Tree Structure
Star
Cable Redundancy
Any number of physical layer changes possible
Standard Ethernet 100m cable distance between 2 devices
Up to 65.535 devices possible
EtherCAT Communication
..
..
DVI
EtherCAT Communication
IPC
..
..
DVI
EtherCAT Communication
IPC
..
..
DVI
EtherCAT Communication
IPC
..
..
DVI
EtherCAT Communication
IPC
..
..
DVI
EtherCAT Communication
10
fibre optics
IPC
..
..
DVI
EtherCAT Communication
11
Cable Redundancy
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
IPC
..
..
DVI
12
Master
IPC
..
..
DVI
vom
vom Master
Master
zum Master
EtherCAT Communication
13
24.02.2008
IPC
..
..
DVI
232
logisches Prozessabbild: bis 4 GByte
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
Telegrammstruktur
Ethernet HDR
HDR 1
PLC Data
HDR 2
NC Data
HDR n
Data n
CRC
Data n
PLC Data
NC Data
SubTelegramm 1
SubTelegramm 2
SubTelegramm n
EtherCAT Communication
14
Electronic
Data Sheet
EDS
XML
....
DVI
Application Layer
(Mailbox Protocols)
Slave
Host
CPU
EtherCAT
Slave
Controller
EEPROM
ESC
Configuration
Data
Trafo
RJ45
ESC
Slave-Hardware
EtherCAT Communication
PHY
PHY
RJ45
24.02.2008
EtherCAT Master
Trafo
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
Standard Ethernet
Physical Layer Components
Copyright by Beckhoff, 2008
15
EtherCAT
Slave Controller Board
Programmer for
FPGA
Power
Supply
PDI
Selector
Basic
Board
EL9800
SPI
8/16bit C
interface
EtherCAT Communication
32 bit
parallel
interface
16
Status LED
RJ45
EtherCAT
Slave
Controller
(FPGA)
Trafo
PHY
EEPROM
17
OSI
Layers
6
5
empty*
4
3
2
* empty means that the layer behavior exists, but is not shown explicitly
EtherCAT Communication
18
24.02.2008
Servo
Application
According
IEC 61491
Application
Layer
(AL)
Application
HTTP,
FTP,
Application
e.g. DS402 Drive Profile
TCP UDP
SoE
Service
Channel
File
Access
Object Dictionary
IP
Ethernet
SDO
Mailbox
Data
Link
Layer
(DL)
PDO Mapping
Process Data
FMMU
FMMU
FMMU
FMMU n
DL
Info
DL
Address
EtherCAT Communication
DL Control/
DL Status
Slave Information
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
Layer
Management
Physical Layer
19
Application
.
HTTP,
FTP, ..
Application
Application
e.g. CiA402 Drive Profile
Object Dictionary
RD / WR
...
TCP, UDP
File
Access
VoE
PDO Mapping
SDO
IP
FoE
Application
Layer
(AL)
PDO
CoE
EoE
CoE
Mailbox DLL
Process Data Interface (C, SSI, I/O )
SII
EEPROM
Registers
Mailbox
0x0000
0x1000
Process Data
SyncMan0 MbxOut
SyncMan1 MbxIn
SyncMan2 SyncMan3
FMMU n
Data
Link
Layer
(DL)
FMMU
n
FMMU
FMMU
FMMU
MII / EBUS
Port 1
Process Data
LVDS
LRW
HDR
WKC
HDR
Trafo
PHY
MII / EBUS
Port 2
Con
PHY
24.02.2008
MII / EBUS
Port 3
RJ45
WKC
MII / EBUS
Port 0
Trafo
RJ45
PHY
Management
Physical
Layer
(PL)
ECAT HDR
Ethernet
Copyright
byHDR
Beckhoff, 2007
20
On cables:
100BaseTX or 100BaseFx
Device internal: E-Bus (LVDS)
Ethernet on LVDS physics
(E-Bus):
for modular devices
E-Bus
IPC
..
..
DVI
Ethernet on
100BASE-TX;
up to 100 m, with
transformer coupling
EtherCAT Communication
any number of
physical layer
changes allowed
Copyright by Beckhoff, 2008
21
Physical Layer
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
100 BASE-TX
Most popular physical layer for Fast Ethernet
Shielded twisted pair (STP) with 2 pairs of wires
Cable categories CAT5, 6, 7 can be used
RJ45 connector standard, M12 connector for IP67
PHY Support for auto negotiation and auto crossover
recommended
100 BASE-FX
All media options possible
Simple solution for TX-to-FX converter
E-BUS
Interface for low cost backplane applications
Widely used LVDS (Low Voltage Differential Signaling)
adopted
Use Manchester Bit Coding
LVDS: Low Voltage Differential Signaling according to
ANSI/TIA/EIA-644, also used in IEEE 802.3ae (10Gigabit
Ethernet)
EtherCAT Communication
22
Port Management
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
3 ports
4 ports
EtherCAT Communication
23
Frame Processing
Auto Forwarder and Loop Back
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Port 3
AutoForwarder
port 3 open
EtherCAT
Processing Unit
port 3 closed
Loopback function
Port 0
ET1100
Port 1
1
Loopback function
port 2 closed
port 2 open
AutoForwarder
Port 2
EtherCAT Communication
24
Application
.
HTTP,
FTP, ..
Application
Application
e.g. CiA402 Drive Profile
Object Dictionary
RD / WR
...
TCP, UDP
File
Access
VoE
PDO Mapping
SDO
IP
FoE
Application
Layer
(AL)
PDO
CoE
EoE
CoE
Mailbox DLL
Process Data Interface (C, SSI, I/O )
SII
EEPROM
Registers
Mailbox
0x0000
0x1000
Process Data
SyncMan0 MbxOut
SyncMan1 MbxIn
SyncMan2 SyncMan3
FMMU n
Data
Link
Layer
(DL)
FMMU
n
FMMU
FMMU
FMMU
MII / EBUS
Port 1
Process Data
LVDS
LRW
HDR
WKC
HDR
Trafo
PHY
MII / EBUS
Port 2
Con
PHY
24.02.2008
MII / EBUS
Port 3
RJ45
WKC
MII / EBUS
Port 0
Trafo
RJ45
PHY
Management
Physical
Layer
(PL)
ECAT HDR
Ethernet
Copyright
byHDR
Beckhoff, 2007
25
EtherCAT Communication
26
27
Ethernet Data
48 Bit
16 Bit
Source
EtherType
FCS
32 Bit
EtherCAT Data
FCS
EtherType 88A4h
48 -1498 Byte
16 Bit
Destination
Source
EtherType
160 Bit
Header
16 Bit
64 Bit
UDP H.
FCS
48 -1470 Byte
Header
Datagrams
FCS
11 Bit
EtherCAT Communication
Datagrams
1 Bit
4 Bit
28
11 Bit
1 Bit
Length
11Res.
4 Bit
12
Type
15
Type
Meaning
----------------------------------------------------------------------0:
Reserved
1:
EtherCAT Datagram (s)
the only type that is evaluated by the ESC
2,3:
Reserved
4:
Network Variables (used e.g. for Master-Master Communication)
5:
Mailbox over IP
(used e.g. for Master-Master Communication)
6-15:
Reserved for future use
EtherCAT Communication
29
Ethernet H.
14 Byte
Ethernet Data
2 Byte
Ethernet H. Len
FCS
44*-1498 Byte
EtherCAT Datagrams
4 Byte
2nd.
10 Byte
Datag. Header
Data
FCS
2 Byte
WKC
WKC = Working Counter
8 Bit
Cmd
8 Bit
Idx
32 Bit
Address
11 Bit
Len
2 1 1 1
R C R M
16 Bit
IRQ
30
Segment Addressing
Device Addressing
Position Addressing
MAC
Address
Logical Addressing
Node Addressing
Address by
Assigned Node
Process Data
physical Position
Address
Address
EtherCAT Datagram Header Address
EtherCAT Communication
31
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Switch
Segment
Address Slave
Slave
Device
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Generic
Ethernet Device
EtherCAT Segment = Ethernet Device
Master
Device
EtherCAT Communication
Segment
Address Slave
Slave
Device
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
32
Ethernet H.
14 Byte
Ethernet Data
2 Byte
Ethernet H. Len
FCS
44*-1498 Byte
EtherCAT Datagrams
4 Byte
2nd.
10 Byte
Datag. Header
Data
FCS
2 Byte
WKC
WKC = Working Counter
8 Bit
Cmd
8 Bit
Idx
32 Bit
Address
11 Bit
Len
2 1 1 1
R C R M
16 Bit
IRQ
33
Address Field
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
8 Bit
Cmd
8 Bit
Idx
32 Bit
Address
16 Bit
Position
16 Bit
Offset
Address
Offset
Logical Address
11 Bit
Len
2 1 1 1
R C R M
16 Bit
IRQ
or
-
EtherCAT Communication
34
16 Bit
Position
24.02.2008
0xFFFA
0xFFF9
0xFFF8
0xFFFC
0xFFFD
0xFFFE
0xFFFF
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
16 Bit
Offset
IPC
..
..
DVI
1 2 3 4
7 8 9
EtherCAT Communication
35
16 Bit
Address
Fixed Addressing
24.02.2008
0x3ED
0x3EE
0x3EB
0x3EC
0x3EA
0x3E9
IPC
..
..
DVI
0x3EF
0x3F0
0x3F1
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
16 Bit
Offset
1 2 3 4
7 8 9
EtherCAT Communication
36
32 Bit
Logical Address
Logical Addressing
24.02.2008
Slave reads from/ writes its data into the 4 GByte great
Ethernet frame (fragmented)
IPC
..
..
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
DVI
232
Telegrammstruktur
Ethernet HDR
HDR 1
PLC Data
HDR 2
NC Data
HDR n
Data n
CRC
Data n
PLC Data
NC Data
SubTelegramm 1
SubTelegramm 2
SubTelegramm n
0
EtherCAT Communication
37
EtherCAT Commands
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Cmd Type
Idx
Access
Address
Address
Offset
Offset
NOP
Len
R C R M
IRQ
Comment
No Operation
Auto
Increment
R, W, RW,
RMW
Position
(increments)
Local Memory
Address
Position value 0
(at entry) addressed
configured
Address
R, W, RW,
RMW
Address
(configured)
Local Memory
Address
Broadcast
R, W, RW
(increments)
Local Memory
Address
Logical
R, W, RW
EtherCAT Communication
38
EtherCAT Commands
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Broadcast Read
Individual Bits of a Byte will be added with a bitwise
OR operation between incoming data and local data
Read Write Actions
Exchange of incoming data and local data
(exception: Broadcast see broadcast read)
Read Multiple Write Actions (RMW)
Addressed Station will read the others will write
EtherCAT Communication
39
0x0000
0x0FFF
0x1000
Registers
0x0100
0x0110
0x0120
0x0130
DL Control
DL Status
AL Control
AL Status
4 kByte
User memory
process data in
process data out
mailbox data out
1..60 kByte
mailbox data in
0xFFFF
EtherCAT Communication
ESC
Copyright by Beckhoff, 2008
40
EtherCAT Communication
41
EtherCAT Communication
42
Register
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
EtherCAT Communication
43
44
SyncManager Overview
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
45
Write begin
Write end
ECAT
NEXT
2
c
Write begin
ECATECATECATECA
TECATECATECATEC
ATECATECATECATE
CATECATECAT
USER
PDI
Read latest
available data
READ READ
READ READ READ
READ READ READ
.Go on Reading
Read end
Read latest
available data
a
Copyright by Beckhoff, 2008
46
EtherCAT
Read
Failed Read
WKC = 0
Slave
MBX Empty
Write
MBX Full
Write Successfull
Read
Successfull Read
WKC = 1
EtherCAT Communication
MBX Empty
47
16 Bit
16 Bit
0
Start Address
8 Bit
Length
16
32
Ctrl
8 Bit
40
Status
16 Bit
E 49R Res
E 49R Res
49
49
48
49
50
56
Request
Master
1/3
Buffer
0
R/W
IE
00: 3 Buffer
10: 1 Buffer
EtherCAT Communication
Response
Slave
IP WD
R
6
7
0
00: Read
01: Write
63
57
Res.6
IW 1IR WD
1P
3P
2
3
4
Watchdog
Enable
Interrupt
Enable
to PDI
Channel
Enable
0
Repeat
Reserved
0: read
1: written
Completely
00: Buffer 0
read
01: Buffer 1
10: Buffer 2
Completely
11: locked (Start)
written
Copyright by Beckhoff, 2008
48
SyncManager assignment
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Standard assignment
With mailbox support
SM0: Mailbox output
SM1: Mailbox input
SM2: Process data outputs
SM3: Process data inputs
Readable via CoE object 1C00h
Without mailbox support
SM0: Process data outputs
(or inputs if no outputs available)
SM1: Process data inputs
Extended assignment
SM0: Mailbox output
SM1: Mailbox input
Rest is configurable via CoE object 1C00h
One or more PDO always fit exactly in a SyncManager
EtherCAT Communication
49
50
Ethernet HDR FH
EtherCAT Communication
EH
Data
WKC FCS
51
32 Bit
Glob. Start Addr.
0
16 Bit
32
8 Bit 8 Bit
Length
0-7
5 Bit
Reserved 7
Length of all
concerned
Bytes
Global
Start Address
(32 Bit)
EtherCAT Communication
8 Bit 8 Bit 1
48
3 Bit
0
16 Bit
88
Dir 96E
31 Bit
97
Res 127
6 Bit
0
R 1W 2Reserved 7
Enable
Write Enable
Read Enable
Local
Start Address
(16 Bit)
52
FMMU Setup
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
EtherCAT Communication
53
FMMU example
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Value
0x0:0x3
0x00014711
Length (Byte)
0x4:0x5
0x0002
0x6
0x03
0x7
0x00
0x8:0x9
0x0F01
0xA
0x01
Type
0xB
Activate
0xC
1 (enable)
EtherCAT Communication
54
EtherCAT Datagrams
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Ethernet H.
14 Byte
Ethernet Data
2 Byte
Ethernet H. Len
FCS
44*-1498 Byte
EtherCAT Datagrams
2nd.
10 Byte
Datag. Header
Data
4 Byte
FCS
2 Byte
WKC
WKC = Working Counter
EtherCAT Communication
55
EtherCAT Communication
56
WKC valid:
WC=0
PC
WC=1
DI = read
WC+1=1
LRWCommand
1xread+
1xwrite+
1+read/ write
=6
node 1
WC=6
EtherCAT Communication
node 2
WC=3
DO=write
WC+2=3
WC=6
node 3
WC=6
DI/DO=
read+write
WC+3=6
WC=6
57
WC+1
WC+1
WC+3
WC+1
WC+1
EtherCAT Communication
58
Error situation
Detection
Wrong Station
Transmission
Errors
Change
between In and
Out Cable
Link loss/
Station fault
Frame loss
EtherCAT Communication
59
Switch
Master
Network Monitor
EtherCAT Communication
60
Network Monitor
Master
Attention:
At low cycle times order of frames might be mixed because of timing restrictions within
NDIS protocol driver
EtherCAT Communication
61
M
t
IPC
S
..
..
DVI
EtherCAT Communication
62
IEEE 1588
Grandmaster
Clock
M
IPC
S
..
..
Boundary
Clock
DVI
EtherCAT Communication
63
EtherCAT Communication
64
Sync1 / Latch1
Sync0 / Latch0
FMMU n
Sync / Latch Unit
SyncMan
DC
Control
Trafo
RJ45
Port 0
Port 1
PHY
EtherCAT Communication
Port 2
PHY
Port 3
Offset
System Time
Delay
Distributed Clocks
RJ45
24.02.2008
SPI / C parallel
Digital I/O
Trafo
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
65
EtherCAT Communication
66
EtherCAT Communication
67
Registers:
System Time
(0x0910:0x0917, small systems 0x0910:0x0913)
System Time
Read access from both sides (EtherCAT and C)
Consistent access from C
(access to first byte saves an internal copy)
Consistent access from EtherCAT
(within a single frame, internally latched with SOF)
Write access from EtherCAT starts the DC control
ARMW command (auto increment read multiple
write) allows to read System Time of the reverence
clock and write it to all slave clocks within a single
frame
EtherCAT Communication
68
vom Master
EtherCAT
Frame
EtherCAT Communication
69
IPC
..
..
DVI
EtherCAT Communication
70
Registers:
Receive Time Port 0
Receive Time Port 1
Receive Time Port 2
Receive Time Port 3
System Time Delay
(0x0900:0x0903)
(0x0904:0x0907)
(0x0908:0x090B)
(0x090C:0x090F)
(0x0928:0x092B)
71
Individual
System Time Offset
IPC
S
..
..
DVI
EtherCAT Communication
72
Offset Compensation
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Registers:
System Time Offset
(0x0920:0x927, small systems 0x0920:0x0923)
Difference between the Reference Clock and every slave
device's clock is calculated by the master.
The offset time is written to register System Time Offset
Each slave calculates its local copy of the System time
using its local time and the local offset value:
tLocal copy of System Time = tLocal time + tOffset
EtherCAT Communication
73
Registers:
System Time
(0x0910:0x0917, small systems 0x0910:0x0913)
System Time Offset
(0x0920:0x927, small systems 0x0920:0x0923)
ARMW command (auto increment read multiple write) allows to
read System Time of the reverence clock and write it to all slave
clocks within a single frame
DC Control
Write access to System Time compares
received Time with local time
t = (tLocal time + tOffset + tPropagationDelay) - tReceived Time
If (t > 0) then decelerate local clock
else if (t < 0) accelerate local clock
EtherCAT Communication
74
Initialization of DCs
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
1.
2.
Master reads the DL Status register of all slaves and calculates the network topology.
Master sends a broadcast write to Receive Time Port 0 register (at least first byte). All slaves
latch the local time of the first preamble bit of this frame at all ports and at the ECAT
Processing Unit. Some ESCs need the EtherCAT network to be free of frames before the
broadcast write is sent.
Master waits until the broadcast write frame has returned.
Master reads all Receive Time Port 0-3 registers (depending on the topology and the Receive
Time ECAT Processing Unit register (0x0918:0x091F) which contains the upper 32 bits of the
receive times.
Master calculates individual propagation delays and writes them to System Time Delay
registers of the slaves. Possible overruns of the 32 bit Receive Times have to be checked and
taken into account.
Master sets System Time Offset register of the Reference Clock so that the Reference Clock is
bound to the master time. The offset for the Reference Clock is master time minus Receive
Time ECAT Processing Unit (local time) of the Reference Clock.
Master calculates System Time offsets for all DC slaves and writes them to the System Time
Offset registers. The offset of each slave is Receive Time ECAT Processing Unit from
Reference Clock minus Receive Time ECAT Processing Unit from each DC slave.
For static drift compensation, the master sends many separate ARMW or FRMW drift
compensation frames (e.g., 15,000 frames) to distribute the System Time of the Reverence
Clock to all DC slaves.
For dynamic drift compensation, the master sends ARMW or FRMW commands periodically to
distribute the System Time of the Reverence Clock to all DC slaves. The rate of the drift
compensation commands depends on the acceptable maximum deviation.
3.
4.
5.
6.
7.
8.
9.
EtherCAT Communication
75
SyncSignal Generation
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
PDI IRQ
Latch0 / Latch1
Sync0 / Sync1
76
Register Address
Name
Description
0x0140[11:10]
PDI Control
0x0151
0x0980.0
0x0981
0x0982:0x0983
Activation
Pulse Length of SYNC signals
0x098E
SYNC0 Status
0x098F
SYNC1Status
0x0990:0y0997
0x0998:0x099F
0x09A:0x09A3
0x09A4:0x09A7
EtherCAT Communication
77
Start Time
Activation
Cyclic generation
SYNC0
Single shot
SYNC0
Acknowlege
Cyclic Acknowledge mode
SYNC0
Acknowlege
Single shot Acknowledge mode
SYNC0
Pulse Length
of SYNC Signals
(0x0982:0x0983)
(0x09A0:0x09A3)
>0
=0
>0
Cyclic generation
Single Shot
=0
Cyclic Acknowledge*
78
Start Time
SYNC0
SYNC1 Cycle Time
SYNC1
SYNC0
SYNC1 Cycle Time
SYNC1
SYNC0
SYNC1 Cycle Time
SYNC1
SYNC1 Cycle Time > SYNC0 Cycle Time
and
SYNC1 Cycle Time < 2*SYNC0 Cycle Time
SYNC0
SYNC1
EtherCAT Communication
79
Latch Functionality
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
EtherCAT Communication
80
Register Address
Name
Description
0x0140[11:10]
PDI Control
0x0151
0x0980[5:4]
0x09A8
Latch0 Control
0x09A9
Latch1 Control
0x09AE
Latch0 Status
0x09AF
Latch1 Status
0x09B0:0x09B7
0x09B8:0x09BF
0x09C0:0x09C7
0x09C8:0x09CF
0x09F0:0x09F3
0x09F8:0x09FB
0x09FC:0x09FF
EtherCAT Communication
81
Synchronization Modes
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
EtherCAT Communication
82
Synchronization Modes
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
1.
2.
3.
4.
5.
6.
7.
8.
Free Run
Synchronous to SM2/3 (with Shift)
DC Mode 1 (Sync0 Event)
DC Mode 1 (Sync0 Event with Shift)
DC Mode 2 (Sync0, Sync1, with Shift)
DC Mode 3 (SM2 Event, Sync0)
DC Mode 4 (SM2 Event, Sync0, Sync1)
DC Mode with subordinated cycles
EtherCAT Communication
83
Free Run
Local Timer
Outputs Valid
24.02.2008
EtherCAT Communication
Input Latch
84
SM2/3 Event
SM2/3 Event
Frame
Frame
Outputs Valid
24.02.2008
EtherCAT Communication
Input Latch
85
SM2/3 Event
SM2/3 Event
Frame
Frame
UserShiftTime
0x1C33:06 (Calc + Copy Time)
Outputs Valid
24.02.2008
EtherCAT Communication
Input Latch
86
EtherCAT Communication
87
DC Mode 1
Sync0 Event
Sync0 Event
Sync0 Event
Frame
Frame
Input Latch
EtherCAT Communication
88
DC Mode 1
Sync0 Event (Shift of Outputs Valid and/or Input Latch)
Sync0 Event
Sync0 Event
Frame
Frame
Outputs Valid
Input Latch
- Output Shift Time 0x1C32:03 has to be greater than the value of 0x1C32:06
- Input Shift Time 0x1C33:03 has to be greater than 0x1C32:05-0x1C33:06
- Input Shift Time 0x1C33:03 has to be smaller than Sync0 Cycle Time-UserShiftTime-0x1C33:06
24.02.2008
EtherCAT Communication
89
DC Mode 2
Sync0 Event, Sync1 Event
Sync0 Event
Sync0 Event
Frame
Frame
Outputs Valid
Input Latch
EtherCAT Communication
90
DC Mode 3
SM-Event, Sync0 Event
Frame
(Hardware Delay)
Outputs Valid
- Frame has to received at least the value of 0x1C32:06 before Sync0 Event is generated
- Sync0 Cycle Time has to be greater than the value of 0x1C32:05
- 0x1C32:01 = 0x1C33:01 = 2, 0x1C33:09 = 0
24.02.2008
EtherCAT Communication
91
DC Mode 4
SM-Event, Sync0 Event, Sync1 Event
Frame
(Hardware Delay)
Frame
(Hardware Delay)
Input Latch
- Frame has to received at least the value of 0x1C32:06 before Sync0 Event is generated
- Sync0 Cycle Time has to be greater than the value of 0x1C32:05
- Shift between SYNC0 and SYNC1 has to be at least 0x1C32:05-0x1C32:06-0x1C33:06-0x1C33:09
- 0x1C32:01 = 2, 0x1C33:01 = 3
24.02.2008
EtherCAT Communication
92
Sync 0 Event
Sync 0 Event
Sync 0 Event
Sync 1 Event
0x1C32:02 CycleTime
MinCycleTime
MinCycleTime
0x1C33:03 (Shift Time)
Outputs Valid
Input Latch
EtherCAT Communication
93
Local Timer
Application
Application
User Shift Master
Master Shift
Frame
Frame
DC Base
Frame Delay
Master
Slave
Sync0 Shift
S0
S0
Sync0
24.02.2008
EtherCAT Communication
Sync0
94
DC Base
DC Base
U- Frame D U+
Fixed Shift
(precalc.)
Max. value of
0x1C32:06 + 0x1C32:09
Outputs valid
24.02.2008
EtherCAT Communication
Input Latch
95
DC Base
Max Value of
0x1C33:06
U- Frame D U+
Sync0 DC 1
Fixed Shift
(precalc.)
0x1C32:09
0x1C32:05
Sync0 DC 2
0x1C32:06
SYNC1
Cycle Time
0x1C32:06
Sync0
0x1C32:09
0x1C32:05
0x1C32:09
DC 3
SYNC1 Cycle Time
Sync0
0x1C32:06
0x1C32:09
Input Delay 0x1C33:09
DC4
Outputs valid
24.02.2008
EtherCAT Communication
Input Latch
96
97
Application
.
HTTP,
FTP, ..
Application
Application
e.g. CiA402 Drive Profile
Object Dictionary
RD / WR
...
TCP, UDP
File
Access
VoE
PDO Mapping
SDO
IP
FoE
Application
Layer
(AL)
PDO
CoE
EoE
CoE
Mailbox DLL
Process Data Interface (C, SSI, I/O )
SII
EEPROM
Registers
Mailbox
0x0000
0x1000
Process Data
SyncMan0 MbxOut
SyncMan1 MbxIn
SyncMan2 SyncMan3
FMMU n
Data
Link
Layer
(DL)
FMMU
n
FMMU
FMMU
FMMU
MII / EBUS
Port 1
Process Data
LVDS
LRW
HDR
WKC
HDR
Trafo
PHY
MII / EBUS
Port 2
Con
PHY
24.02.2008
MII / EBUS
Port 3
RJ45
WKC
MII / EBUS
Port 0
Trafo
RJ45
PHY
Management
Physical
Layer
(PL)
ECAT HDR
Ethernet
Copyright
byHDR
Beckhoff, 2007
98
EtherCAT Communication
99
Init
(IP)
(PI)
(SI)
(IB)
Bootstrap
Pre-Operational
(OI)
(OP)
(PS)
(BI)
(optional)
(SP)
Safe-Operational
(SO)
(OS)
Operational
EtherCAT Communication
100
Init
Init State
No communication on the
Application Layer
Master has access to the
DL-Information registers
Pre-Operational
Safe-Operational
Operational
Transition to Pre-Operational
Master configures register, at least:
DL Address register
Sync Manager channels for Mailbox communication
Master requested Pre-Operational state
sets AL Control register
wait for AL Status register confirmation
EtherCAT Communication
101
Init
Pre-Operational State
Mailbox communication on the
Application Layer
No Process Data communication
Pre-Operational
Safe-Operational
Operational
Transition to Safe-Operational
Master configures parameter using the Mailbox
e.g.: Process Data Mapping
Master configures DL Register
SyncManager channels for Process Data
communication
FMMU channels
Master requested Safe-Operational state
EtherCAT Communication
102
Init
Safe-Operational State
Mailbox communication on the
Application Layer
Process Data communication,
but only Inputs are evaluated
Outputs in Safe state
Pre-Operational
Safe-Operational
Operational
Transition to Operational
Master sends valid Outputs
Master requested Operational state
(AL Control/Status)
EtherCAT Communication
103
Init
Operational State
Inputs and Outputs are valid
Pre-Operational
Safe-Operational
Operational
EtherCAT Communication
104
Init
Bootstrap State
Bootstrap
Pre-Operational
Bootstrap State is optional
but recommended if firmware
Safe-Operational
updates necessary
State changes only from and to Init
Operational
No Process Data communication
Communication via Mailbox on Application Layer
Special mailbox configuration possible,
e.g. larger mailbox size
Only FoE protocol available (possibly limited file range)
EtherCAT Communication
105
EtherCAT Communication
106
Description
0x0000
No Error
0x0011
0x0015
0x0018
0x0019
No valid outputs
0x001A
Synchronization error
0x001B
Description
0x0021
0x0022
0x0030
0x0031
EtherCAT Communication
107
Mailbox Transfer
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
IPC
Index
Value
0x1600
RxPDO Mapping
0x1A00
TxPDO Mapping
0x2000
Current control
0x2010
Velocity control
0x2040
Motor parameter
0x2070
Actual values
0x6040
Controlword
0x6041
Statusword
State "PreOperational"
..
..
DVI
Simple IO-Device
No Parameter
No Mailbox necessary
EtherCAT Communication
108
EtherCAT Communication
109
EtherCAT Communication
110
Mailbox Interface
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Ethernet Header
EC Header
Type = 88A4h
Type = 1
Datag. Header
EtherCAT Data
2nd
Data
FCS
WKC
Mailbox Protocol
Mbx Header
EtherCAT Communication
111
Mailbox Header
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
48 Bit
Mbx Header
16 Bit
0
Length
Command
16 Bit
Address
16
Channel
32
2 Bit
Prio
38
4 Bit
4 Bit
40
Type
44
Cntr
Length
Address
Channel
Priority
Type
Counter
EtherCAT Communication
112
113
16 Bit
Length
16
32
8 Bit
Ctrl
8 Bit
Status
40
1 1 6 Bit 1 1 6 Bit
E 49WT 50Res. 56D 57RT Res.
48
58 63
WT SM Write Toggle
RT SM Read Toggle
Following:
Mailbox Error Handling - Write Example
Mailbox Error Handling - Read Example
EtherCAT Communication
114
Slave
Master
Mailbox Write (Mbx Hdr Ctr=1)
MBX_MailboxWriteInd
EtherCAT Communication
115
Slave
Master
MBX_MailboxSendReq(pMbx)
Slave puts the Mailbox Read service
in the send mailbox and stores
the actual sent buffer
psReadMbx = pMbx
Mailbox Read
Mailbox Read (Mbx Hdr Ctr=1)
Read SM-Read-Toggle
Mailbox Read
Mailbox Read (Mbx Hdr Ctr=1)
Copyright by Beckhoff, 2008
116
virtual
Ethernet
Switch
Functionality
Web server
virtual MAC Address
IP Address
SwitchportTerminal
Master
TCP/IP
Even via
Internet
Label printer
EtherCAT Communication
117
EtherCAT Communication
118
EtherCAT Switchport
Ethernet MAC
RX1
RX RX3
RX2TX
PHY
RX4
Fragmentation
Mailbox
PHY
Process Data
PHY
TX1
TX3
TX2
EtherCAT Communication
119
8 Byte
Mbx Header
Type = 2 (EoE)
4 Bit
4 Bit
1B
1B
1B
4 Byte
EoE Cmd
5B
Type
6 Bit
6 Bit
4 Bit
Frag.
No
Size
Frame
No
Port
Selected Port
LF
Last fragment
TA
TR
Fragment No
Size
Frame No
EtherCAT Communication
120
EoE Header
48 Bit
32 Bit
EoE
4 Bit
Type
Port
LF TA TR Res
Following Data
6 Bit
6 Bit
FragmentNo
Offset/BufferSize
4 Bit
FrameNo
EtherCAT Communication
121
EoE Frames
EoE (Mbx Type = 2)
32 Bit
n * 32 Byte
(except for the last fragment)
Mbx Header
Mbx Header
Mbx Header
Time Stamp
Mbx Header
IP Settings
Mbx Header
IP Settings Response
Mbx Header
Mbx Header
24.02.2008
EtherCAT Communication
Fragment Data
Time Stamp
122
EtherCAT Communication
123
Time Stamp
32 Bit Timing information with 1 ns resolution
DC System Time if available (Register 910h)
Time stamp trigger is the beginning of Destination
Address (DA) in the Ethernet Frame
Time stamp appended (TA = 1)
Slave to Master:
Time stamp contains exact receive time
Master to Slave:
Time Stamp contains desired send time
Time stamp extends frame data by 32 Bit
TA is allowed in last fragment only (LF = 1).
If necessary, add additional fragment
fill the last fragment with parts of the Time Stamp
(LF=0, TA=0) and send a very last fragment with the
rest of the Time Stamp (LF=1, TA=1)
Slave should always append a Time Stamp if it has this
feature
EtherCAT Communication
124
EtherCAT Communication
125
EtherCAT Communication
126
EtherCAT Communication
127
EtherCAT Device
CANopen Application
Object Dictionary
Process Data
PDO Mapping
CoE
CoE
Mailbox
Process Data
EtherCAT Communication
128
8 Byte
Mbx Header
Type = 3 (CoE)
2 Byte
CoE Cmd
9 Bit
3 Bit
4 Bit
Number
res
Type
Number
Type
Message Type
0
reserverd
1
Emergency Message
2
SDO Request
3
SDO Response
4
TxPDO
5
RxPDO
6
Remote transmission request of TxPDO
7
Remote transmission request of RxPDO
8
SDO information
9-15 reserved for future use
EtherCAT Communication
129
130
8 Byte
Mbx Header
Type = 3 (CoE)
2 Byte
CoE Cmd
Typ = 2 or 3
8 Bit
16 Bit
8 Bit
32 Bit
1 .. 1470 Byte
SDO
Control
Index
Subindex
Data
Data
(optional)
Index
Subindex
and Subindex
Data
Data (optional)
EtherCAT Communication
131
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
MBx Size
Mailbox
Expedited
Service
Normal
Service
Segmented
Service
Mbx Header
CoE
Mbx Header
CoE
Mbx Header
CoE
Data<=4 Byte
4Byte<Data<Mbx size*
Mbx Header
CoE
Mbx Header
CoE
Mbx Header
CoE
Mbx size*
EtherCAT Communication
132
Parameterliste
Name
EtherCAT
Index
Typ
Controlword
0x6040
Variable
Statusword
0x6041
Target position
0x607A
Target velocity
0x60FF
0x6064
0x607B
Modes of operation
Read: 0x1018,
"Modes of
0x6061
03operation display"
Modes of operation display
0x6060
0x60F4
0x6065
Gear Ratio
0x6091
EtherCAT Communication
Subindex (SI)
Array
No Subindex available
Number of SIs
0x607B SI0
0x607B SI1
0x6061
Device Type
0x1000
Identity object
0x1018
Record
Number of SIs
0x1018 SI0
Vendor ID
0x1018 SI1
Product Code
0x1018 SI2
Revision Number
0x1018 SI3
Serial Number
0x1018 SI4
133
Parameterliste
Name
EtherCAT
Cyclic Outputs
Index
Controlword
0x6040
Statusword
0x6041
Target position
0x607A
Target velocity
0x60FF
0x6064
0x607B
Modes of operation
0x6060
0x6061
0x60F4
0x6065
Gear Ratio
0x6091
Device Type
0x1000
Identity object
0x1018
No of SI's
1st
Prozessdaten Info
Output Mapping (RxPDO)
assembly of
RxPDO
0x1600
Record
= 3
RxPDO = 0x6040 00 10
EtherCAT Communication
134
Parameterliste
Name
EtherCAT
Cyclic Inputs
Index
Controlword
0x6040
Statusword
0x6041
Target position
0x607A
Target velocity
0x60FF
0x6064
0x607B
Modes of operation
0x6060
0x6061
0x60F4
0x6065
Gear Ratio
0x6091
Device Type
0x1000
Identity object
0x1018
Prozessdaten Info
assembly of
TxPDO
EtherCAT Communication
No of SI's
0x1600
0x1A00
= 3
135
24.02.2008
IPC
Add = 1
Add = 2
Add = 3
0x1018:01 Vendor ID
..
..
DVI
Mailbox
DL
Process Data
Ethernet
HDR
ECAT
HDR
ECAT
Cmd
Add
FPWR
EtherCAT Communication
Add
Offset
Mbx Hdr
1000 Type=3
(CoE)
CoE Cmd
SDO
Control
Index
Sub
index
FMMU n
Data
WKC
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
FCS
1 Vendor
ID
Download Req
SDO Request
0x1018
136
24.02.2008
IPC
Add = 1
Add = 2
Add = 3
DVI
0x1600
Mapping&Assign
Mailbox
DL
Process Data
0x1000
FMMU n
Ethernet
HDR
EtherCAT Communication
ECAT
HDR
ECAT
Cmd
Log Add
Processdata
LWR
10000
Raw data
WKC
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
FCS
137
the original
CANopen Protocol
(CiA DS301)
Mailbox Size
6 Byte
2 Byte
8 Byte
CoE
SDO
Mailbox Header
Data (optional)
I
0
Size
I
0
Ccs
4-n
E
1
1 1
Expedited
> 4 Bytes
E
1
Size
32 Bit
Sub
24
Data
32
63
Ccs
Index
8
8 Bit
Index
8
Sub
24
Complete Size
Data 0-n
32
64
L
0
Size
1
0/1
<= 7 Bytes
L
0
T
4
0/1
Size
1
0/1
EtherCAT Communication
0/1
Data 0-6
Data 7-n
T
4
7-n
Ccs
5
Ccs
5
64
Data 0-n
8
63
0
Copyright by Beckhoff, 2008
138
Server
Datablock
24.02.2008
Mailbox
139
24.02.2008
Server
Data
Mailbox
Datablock
Client
Size Indic. = 1
Transfer Type = 0 (Normal)
Data Set Size = 0
Cmd = 0x01 (Dwnl. Req.)
Index, Subindex
Complete Size
Data
140
Data
Size Indic. = 1
Transfer Type = 0 (Normal),
Cmd = 0x01 (Dwnl. Req.)
Index, Subindex
Complete Size
Data
Mailbox
Datablock
Mailbox
Client
More Follows = 0
Seg. Data Size = 0
Toggle
Cmd = 0x00 (Dwnl. Seg. Req.)
Data
Mailbox
24.02.2008
141
142
EtherCAT Communication
143
Meaning
0x0000 0x0FFF
0x1000 0x1FFF
Communication objects
Device Type, Identity, PDO Mapping like defined in DS 301
Objects defined in DS 301 not needed are reserved for EtherCAT
Additional objects (Sync Manager Communication Type, Sync
Manager PDO Assignment) located in unused areas of DS 301
0x2000 0x5FFF
Manufacturer specific
0x6000 0x9FFF
Profile specific
0xA000 0xFFFF
reserved
EtherCAT Communication
144
EtherCAT Communication
145
Index
Meaning
0x1C00
0x1C10 0x1C2F
0x1C30 0x1C4F
SyncManager Parameter
146
6 Bytes
2 Bytes
1..8 Bytes
1..n Bytes
Mailbox Header
CoE Header
(Type = 4 or 5)
Process Data
Data
Mandatory Header
optional
EtherCAT Communication
147
EtherCAT Communication
148
EtherCAT Communication
149
6 Bytes
2 Bytes
2 Bytes
1 Byte
5 Bytes
Mailbox Header
CoE Header
(Type = 1)
ErrorCode
Error Register
Data
Mandatory Header
1..n Bytes
Data
optional
EtherCAT Communication
150
EtherCAT Communication
151
Slave
Master
WRQ (with file name)
ACK (packet no 0)
DATA (packet no 1, full mailbox)
ACK (packet no 1)
DATA (packet no 2, full mailbox)
ACK (packet no 2)
DATA (packet no 3, less data or zero data)
ACK (packet no 3)
EtherCAT Communication
152
Slave
Master
WRQ (with file name)
ACK (packet no 0)
DATA (packet no 1, full mailbox)
ACK (packet no 1)
DATA (packet no 2, less data or zero
data)
BUSY (X of N done)
DATA (packet no 2, less data or zero data)
BUSY (Y of N done)
DATA (packet no 2, less data or zero data)
ACK (packet no 2)
EtherCAT Communication
153
Slave
Master
WRQ (with file name)
ERR (error code and optional error text)
EtherCAT Communication
154
Slave
Master
RRQ (with file name)
DATA (packet no 1, full mailbox)
ACK (packet no 1)
DATA (packet no 2, full mailbox)
ACK (packet no 2)
EtherCAT Communication
155
EtherCAT Communication
156
6 Byte
Mbx Header
Type = 5 (SoE)
3 Bit
1 Bit
1 Bit
Command
4 Byte
SoE Cmd
3 Bit
8 Bit
16 Bit
Drive
Element
IDN
Command Type
Read Request, Read Response, Write Request, Write Response, Notification, SlaveInfo
Incomplete
Error
Drive
Contains the address of the drive inside the slave device that is
addressed
Element
IDN
EtherCAT Communication
157
(IP)
EtherCAT
IEC 61784
CPF 16
Init
Phase 0 / 1
(PI)
Pre-Operational
(PS)
(OI)
(SI)
Phase 2
(SP)
(S-0-0127)
(OP)
Safe-Operational
(SO)
Phase 3
(with Inputs)
(OS)
(S-0-0128)
Operational
Phase 4
EtherCAT Communication
158
Obsolete IDN
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
IDN
Description
S-0-0003
S-0-0004
S-0-0005
S-0-0009
S-0-0010
S-0-0088
S-0-0090
S-0-0127
S-0-0128
EtherCAT Communication
159
Changed IDN
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
IDN
S-0-0006
S-0-0014
Interface status
This parameter should reflect DL status, AL status and AL status code of EtherCAT
S-0-0028
S-0-0089
EtherCAT Communication
160
Synchronisation Mapping
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
EtherCAT Communication
161
EtherCAT Communication
162
Service Channel
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
163
....
DVI
Slave
Host
CPU
EEPROM
ESC
Configuration
Data
EtherCAT Communication
Trafo
RJ45
ESC
PHY
PHY
RJ45
24.02.2008
EDS
XML
Trafo
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
164
Application
.
HTTP,
FTP, ..
Application
Application
e.g. CiA402 Drive Profile
Object Dictionary
RD / WR
...
TCP, UDP
File
Access
VoE
PDO Mapping
SDO
IP
FoE
Application
Layer
(AL)
PDO
CoE
EoE
CoE
Mailbox DLL
Process Data Interface (C, SSI, I/O )
SII
EEPROM
Registers
Mailbox
0x0000
0x1000
Process Data
SyncMan0 MbxOut
SyncMan1 MbxIn
SyncMan2 SyncMan3
FMMU n
Data
Link
Layer
(DL)
FMMU
n
FMMU
FMMU
FMMU
MII / EBUS
Port 1
Process Data
LVDS
LRW
HDR
WKC
HDR
Trafo
PHY
MII / EBUS
Port 2
Con
PHY
24.02.2008
MII / EBUS
Port 3
RJ45
WKC
MII / EBUS
Port 0
Trafo
RJ45
PHY
Management
Physical
Layer
(PL)
ECAT HDR
Ethernet
Copyright
byHDR
Beckhoff, 2007
165
166
EtherCAT Communication
167
Byte
16
32
48
ProductCode
RevisionNo
Hardware Delays
SerialNo
128
Category Strings
Category Generals
Category FMMU
Category SyncManager
Category Tx- / RxPDO for each PDO
EtherCAT Communication
168
EEPROM
Word
Address
Parameter
Description
PDI Control
0x0140
0x0141
PDI configuration,
0x0150
0x0151
0x0982
0x0983
Extended PDI
configuration
0x0152
0x0153
0x0012
0x0013
5, 6
Reserved
Checksum
EtherCAT Communication
Corresp.
Register
169
SII Categories
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Meaning
STRINGS
Text strings
General
Device Information
FMMU
FMMU usage
SyncManger
TxPDO
RxPDO
EtherCAT Communication
16 Bit
Length
Data
170
Categories
24.02.2008
No PD
MBX
Fixed PD
No MBX
Fixed PD
No OD
Fixed PD
OD
Variable PD
OD
ESC Info
Identity
Bootstrap
Mbx Info
Standard
Mbx Info
Strings
(10)
General
(30)
FMMU (40)
O (same as OD)
OP Modes (60)
Discussion?
Timeouts (70)
Object Dictionary
Entries (80)
171
EtherCAT Communication
172
EtherCAT Communication
173
174
EtherCAT Communication
175
EtherCAT Communication
176
FG Torque
EtherCAT Communication
FG Velocity
177
0x0000 0x0FFF
0x1000 0x1FFF:
0x2000 0x5FFF:
0x6000 0x6FFF:
0x7000 0x7FFF:
0x8000 0x8FFF:
0x9000 0x9FFF:
0xA000 0xAFFF:
0xB000 0xBFFF:
0xC000 0xEFFF:
0xF000h 0xFFFF:
178
0x1600
0x1601
0x16nn
Output Entries
0x7xxx
0x7000 0x700F
0x7010 0x701F
0x7nn0 0x7nnF
TxPDO (Inputs)
0x1Axx
0x1A00
0x1A01
0x1Ann
Input Entries
0x6xxx
0x6000 0x600F
0x6010 0x601F
0x6nn0 0x6nnF
0x8000 0x800F
0x8010 0x801F
0x8nn0 0x8nnF
Information
0x9000 0x900F
0x9010 0x901F
0x9nn0 0x9nnF
Modul 0
Modul 1
Modul nn
0x9xxx
Communication Area
0x1000 0x1FFF
Device Parameter
0xF000 0xFFFF
Modular Device
EtherCAT
EtherCAT Communication
179
180
BK1120 + DI 4 + DO 8 + AO 2
Device
Slot 0
Slot 1
Slot 2
RxPDO (Output)
0x1600
0x1601
0x1602
Output Entries
0x7000
0x7010:
SI0, 1-8
0x7020:
SI0, 1-2
TxPDO (Input)
0x1A00
0x1A01
0x1A02
Input Entries
0x6000:
SI 0,1-4
0x6010
0x6020:
SI 0, 1-2
Dig. Input 4
Dig. Output 8
Anal. Output 2
181
Description
1000
1100
1110
EtherCAT Slave
1120
KBus Master
3100
PROFIBUS Master
3110
PROFIBUS Slave
4000
Interbus Master
4010
Interbus Slave
5100
CANopen Master
5110
CANopen Slave
5200
DeviceNet Master
5210
DeviceNet Slave
6200
ASI-Master
6220
IO Link-Master
EtherCAT Communication
182
IEC 61800-7
Generic interface and use of profiles for power drive systems
Part 7-1: Interface definition
Part 7-2: Profile specifications
Part 7-3: Mapping of profiles to network technologies
Mapping CiA402 to EtherCAT
Mapping SERCOS profile to EtherCAT
ETG Implementation Guideline for the CiA402 Drive Profile
Specify a common behavior of EtherCAT CiA402 servo drives
according to IEC 61800-7
Scope
EtherCAT CiA402 Servo Drives
No frequency converter, no stepper
The mapping of the SERCOS profile to EtherCAT described in
IEC 61800-7-304 is not part of this guideline
EtherCAT Communication
183
Drive Profile
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Abstract
models
IEC TR 62390
Device profile guideline
IEC 61800-7 Generic interface and use of profiles for power drive systems
Generic
PDS
interface
Mapping to
solutions
(profiles)
Annex B:
Mapping to
CIP
Annex C:
Mapping to
PROFIdrive
Annex D:
Mapping to
SERCOS
Drive
profiles
Mapping to
network
Annex A
technologies
Annex B:
Profile
CIP
Annex C:
Profile
PROFIdrive
Annex D:
Profile
SERCOS
Annex C
Annex D
Mapping toMapping to
Mapping toMapping toMapping to Mapping toMapping toMapping to Mapping toMapping to SERCOS SERCOS Mapping to
ETHERNET
EtherCAT
CANopen EtherCAT Powerlink DeviceNet ControlNetEtherNet/IP PROFIBUSPROFINET
I + II
III
SERCOS interface is a trade name of Interests Group SERCOS interface e.V. Compliance to this profile does not require use of the trade name SERCOS
interface. Use of the trade name SERCOS interface requires permission of the trade name holder.
EtherCAT Communication
184
NC/ PC
Pos.
Gen.
Drive
EtherCAT
Pos.
Velo.
control
control
Pos.
control
v
s
NC/ PC
Pos.
Gen.
Pos.
control
s
EtherCAT Communication
EtherCAT
Velo.
Torque
control
control
t
Drive
M
EtherCAT
Torque
M
control
Velo.
control
v
s
NC/ PC
Pos.
Gen.
Torque
control
Drive
t
Copyright by Beckhoff, 2008
185
Contents
Clarifications of the state machine
Modes of operation
Function Groups (FG)
FG Position, FG Velocity, FG Torque
FG Torque Limiting, FG Homing, FG Touch Probe
Endless Positioning
For PDO Mapping only recommendation
EtherCAT Communication
186
187
General Structure
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
ID
Name
Vendor
Comment
Type
Image
Name
Vendor Spec
Group Type
EtherCATInfo.xsd
Profile
Fmmu
Groups
Sm
Su
Description
RxPdo
Devices
TxPdo
Mailbox
Dc
Modules
ESC
mantadory
optional
EtherCAT Communication
Eeprom
Vendor Spec
.
Copyright by Beckhoff, 2008
188
ID
Vendor
vendor ID, vendor name
Bitmap image and information text
Name
Vendor
EtherCATInfo.xsd
Comment
Type
Name
Groupe Type
Image
Profile
Vendor Spec
Fmmu
Sm
Groups
Description
Su
RxPdo
Devices
TxPdo
Groups
Device groups help configuration tool to sort the
devices.
Configuration tool may use three levels to sort
devices: vendor, group and device.
At least one device group must be provided, each
device is assigned to one group
Devices
Device description shall contain Type, Name and Group
Type
FMMU, SM, PDO, Mailbox and Eeprom are
recommended
Mailbox
Dc
Modules
ESC
ESC
Eeprom
Vendor Spec
.
EtherCAT Communication
189
Attributes Profile
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Profile
Profile Information
Object Dictionary
Same Structure for CoE and SoE Dictionaries
EtherCAT Communication
190
Element Profile
Element Data Type
Data Type
STRING(20)
Element Object
Object Device Name
EtherCAT Communication
191
EtherCAT Communication
192
Module definition
With RxPDO/TxPDO and profile information (Object dictionary)
EtherCAT Communication
193
Modules
Element (Attribute)
Description
(CRC32)
Type (ModuleIdent)
Type (ModuleClass)
Type (ModulePdoGroup)
Name
RxPDO
TxPDO
SafetyParaMapping
Mailbox
Profile
Image
24.02.2008
194
24.02.2008
EtherCAT Communication
195
Slots
24.02.2008
Element (Attribute)
Description
(MaxSlotCount)
(SlotPdoIncrement)
(SlotIndexincrement)
(MaxSlotGroupCount)
(SlotGroupPdoIncrement)
(SlotGroupIndexincrement)
Slot
ModulePdoGroup
ModulePdoGroup
(Alignment)
ModulePdoGroup (PdoNo)
EtherCAT Communication
196
Slot
- The Slot Definition contains a list of modules connectable to this slot
- The allowed order of the modules is described with the order of the slot
definitions
- Mandatory modules to be connected can be described with
MinInstances=MaxInstances=1
24.02.2008
Element (Attribute)
Description
(SlotGroup)
(MinInstances)
(MaxInstances)
(SlotGroupIndexIncrement)
ModuleIdent
ModuleClass
EtherCAT Communication
197
XML
Config
Tool
0110010001010 (*.bin)
EEPROM
EtherCAT Communication
198
EtherCAT Communication
199
Network Configuration
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Device Descriptions
(XML)
EtherCAT
Configuration Tool
(Offline)
Configuration
Information (XML)
General Exchange
Format
XML
File
EtherCAT
Master Driver
(Online)
EtherCAT Communication
Configuration
Information (binary)
Vendor specific
Format
E2PROM
Information
200
EtherCAT Communication
201
EtherCAT Master
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
EtherCAT Communication
202
EtherCAT Communication
203
Control Task
Process Image
(XML)
System
Configuration
Tool
Network Description
Initialization Commands
Process Image
HW Config
Init Cmds
Device Description
XML
XML Parser
XML
HDR
Process Data
Online functions
EtherCAT Master Driver
EtherCAT Master
Standard Ethernet MAC
EtherCAT Communication
204
Hardware
Standard network controller using DMA
NO special plug in card needed
Speed and Quality important
No switches or hubs required
Cache design, CPU
Low jitter, x86 Dual Xeon < 2 s
Software
Realtime kernel
Configuration tool
EtherCAT Communication
205
necessary
optional
206
EtherCAT
Configuration
Tool
XML
File
Parser
Appl.
Process Image
Online Functions
EtherCAT
Master Driver (Sample)
Ethernet Frames
TCP/IP
Protocol Driver
NPF (based)
Protocol Driver
NDIS
Miniport
EtherCAT Communication
207
EtherCAT Communication
208
EtherCAT Communication
209
Title
Status
Remarks
IEC/PAS
62407
PAS
IEC 61158
IS
Type 12:
EtherCAT Specification
PAS
IS
EtherCAT Communication
210
Standard
Title
IEC 61784
IEC 61800
Status
Remarks
IS
IS
CPF12: EtherCAT
IS
Part 7:
Drive Profiles
IS
IS
EtherCAT Communication
Mapping
EtherCAT to
CANopen DS402
and SERCOS
211
Standard
Title
Status
Remarks
ISO 15745
Ed 1
CANopen
PRF Amd
Mapping
EtherCAT to
CANopen DS301
PRF Amd:
Amd:
EtherCAT Communication
212
IEC 61158
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
EtherCAT Communication
213
Users
Implementers
AL Services
Part 5 in IEC 61158
AL Protocol
Part 6 in IEC 61158
DL Services
Part 3 in IEC 61158
DL Protocol
Part 4 in IEC 61158
EtherCAT Communication
Coding
Medium Access
State Machines
214
IEC 61800-7
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Abstract
models
IEC TR 62390
Device profile guideline
IEC 61800-7 Generic interface and use of profiles for power drive systems
Generic
PDS
interface
Mapping to
solutions
(profiles)
Annex B:
Mapping to
CIP
Annex C:
Mapping to
PROFIdrive
Annex D:
Mapping to
SERCOS
Drive
profiles
Mapping to
network
Annex A
technologies
Annex B:
Profile
CIP
Annex C:
Profile
PROFIdriv
e
Annex D:
Profile
SERCOS
Annex C
Annex D
Mapping toMapping to
Mapping toMapping toMapping to Mapping toMapping toMapping to Mapping toMapping to SERCOS SERCOS Mapping to
ETHERNET
EtherCAT
CANopen EtherCAT Powerlink DeviceNet ControlNetEtherNet/IP PROFIBUSPROFINET
I + II
III
SERCOS interface is a trade name of Interests Group SERCOS interface e.V. Compliance to this profile does not require use of the trade name SERCOS
interface. Use of the trade name SERCOS interface requires permission of the trade name holder.
EtherCAT Communication
215
ESC Overview
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
24.02.2008
Available ESCs:
FPGA
IP Core
ASIC
Criteria:
Features:
Number/Type of Ports (MII, EBUS)
PDI Type (functionality, speed)
RAM
DCs, Number of SyncManager, FMMUs
Needed Quantity, Flexibility in relation to price
EtherCAT Communication
216
Step 1:
Slave Evaluation Kit Workshop
Step 2:
Setup of a small EtherCAT System
with Master, I/O and Evaluation
Board.
Step 3:
Build Lab wiring between Evaluation
Kit and Standard-Hardware (e.g.)
with 16Bit Microcontroller
EtherCAT Communication
Step 4:
Start SW-Project with Slave Sample
Code
Copyright by Beckhoff, 2008
217
24.02.2008
ecatslv
foeappl
Step 5:
Download Slave Sample Code in
Target Hardware and set System
into Operation
Step 6:
Test implementation for PDO- und
Mailbox-Transfer
EtherCAT Hardware-Design
mailbox
mcihw
EtherCAT
Slave
Controller
EtherCAT Communication
ecatfoe
emcy
ecatappl
ecatcoe coeappl
EtherCAT Slave
Application Software
Slave Sample Code
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Slave Information /IF
Device Profiles
Modular Devices
Drives
Device Description
Configuration Tool
EtherCAT Master
Standards&Implementation
Step 7:
Software-Design with EtherCAT
Slave Sample Code for existing
Fieldbus SW-Architecture
218