EtherCAT Communication 070531 - Elmo · ISO/OSI Layer Model • * „empty“means that the layer...

30.05.2007 EtherCAT Communication 1© Copyright by Beckhoff, 2007

EtherCAT Technology Group

EtherCAT Communication

Communication Principles

30.05.2007 EtherCAT Communication 2

EtherCAT Basics

Slave Structure

Physical Layer

Device Model (ISO/OSI)

Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

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

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master

Standards&Implementation

© Copyright by Beckhoff, 2007

Agenda

• EtherCAT Basics

• Slave Structure

• Physical Layer

• Device Model

• Data Link Layer

– Frame Structure

– Addressing, Commands

– Memory, SyncManager, FMMUs

– Diagnosis

• Application Layer

– State Machine

– Mailbox (Mailbox Protocols)

– Slave Information Interface (EEPROM)

• Device Profiles

• Distributed Clocks

• Device Description

• Tools (Configuration Tool, Monitor, …)

• EtherCAT Master

• Standard & References


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Topology

EtherCAT Segment (Slaves)

Master

• Flexible Topology

• Any number of physical layer changes possible

• Standard Ethernet 100m cable distance between 2 devices

• Up to 65.535 devices possible


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Functional Principle: Ethernet „on the Fly“

Car

27

Analogy Fast Train:

• „Train“ (Ethernet Frame) does not stop

• Even when watching „train“ through narrow window one

sees the entire train

• „Car“ (Sub-Telegram) has variable length

• One can „extract“ or „insert“ single „persons“ (Bits) or

entire „groups“ – even multiple groups per train


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Functional Principle: Ethernet „on the Fly“

Slave Device

EtherCAT Slave

Controller

Slave Device

EtherCAT Slave

Controller

• Process data is extracted and inserted on the fly

• Process data size per slave almost unlimited

(1 Bit…60 Kbyte, if needed using several frames)

• Compilation of process data can change in each cycle,

e.g. ultra short cycle time for axis, and longer cycles for I/O

update possible

• In addition asynchronous, event triggered communication


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



DVI

IPC

....

Frame Processing within one node

EtherCAT Segment (Slaves)Master

vom Master

zum Master

vom Master


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Logical Process Data Image

logischesProzessabbild: bis4 GByte

0

232 Telegrammstruktur

Ethernet HDR HDR 1 PLC Data HDR 2 NC Data HDR n Data n CRC

PLC Data

Data n

NC Data

Sub-

Telegramm 1Sub-

Telegramm 2

Sub-

Telegramm n

DVI

IPC

..

..


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Slave Structure

PHY PHY

Trafo

Trafo

RJ45

RJ45

ESC

Host

CPU

EEPROM

Standard Ethernet

Physical Layer Components

DVI....

EtherCAT Master

EDSXML

Electronic

Data Sheet

Slave

Slave-Hardware

Application Layer

(Mailbox Protocols)

ESC

Configuration

Data

EtherCAT

Slave

Controller


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Slave Evaluation Kit (by Beckhoff)

8/16bit µC

interface

32 bit

parallel

interface

PIC over SPI

SPI

Power

Supply

Programmer for

FPGA

Basic

Board

EL9800

PIC Program &

Debug Interface

PDI

Selector

EtherCAT

Slave Controller Board


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Slave Controller Board

EtherCAT

Slave

Controller

(FPGA)

PHY

Trafo

RJ45Status LED

* Post stamp design, not cost and space optimized

EEPROM


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Ethernet on LVDS physics

(E-Bus):

for modular devices

EtherCAT Physical Layers

• On cables: 100BaseTX or 100BaseFx

• Device internal: E-Bus (LVDS)

Ethernet on

100BASE-TX;

up to 100 m, with

transformer coupling

any number of

physical layer

changes allowed

E-Bus

DVI

IPC

....


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Physical Layer

• 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 Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Port Management

• A Slave Controller can have up to 4 EtherCAT Ports

• If a Port is closed the controller forward it to the next port

Ports can be opened/closed automatically with link up or

opened closed by EtherCAT command

• The EtherCAT frame processing and forwarding order

depends on logical ports configured:

0�EtherCAT Processing Unit�3 / 3�1 / 1�2 / 2�0 4 ports

0�ECAT Proc. Unit�1 / 1�2 / 2�0 (log. ports 0,1, and 2)

or

0�ECAT Proc.Unit�3 / 3�1 / 1�0 (log. ports 0,1, and 3)

3 ports

0�EtherCAT Processing Unit�1 / 1�0 2 ports


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Frame Processing

Auto Forwarder and Loop Back

1

Port 2

Auto-

Forwarder

Port 1

Port 3

Auto-

Forwarder

Port 0

Loopback function

EtherCAT

Processing Unit

Loopback function

ET1100

port 2 closed

port 2 open

port 3 open

port 3 closed


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



ISO/OSI Layer Model

• * „empty“ means that the layer behavior exists, but is not shown explicitly

7

6

5

4

3

2

1

empty*

OSI

Layers

Application Layer (AL)

Data Link Layer (DLL)

Physical Layer (PhL)


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Device Model – ISO/OSI Reference

Physical Layer

EtherCAT Data Link Layer

SDO

Process DataMailbox

Object Dictionary

AL Control/

AL Status

Application

e.g. DS402 Drive Profile

PDO Mapping

IP

UDPTCP

HTTP,

FTP, …

SoE

Service

Channel

Servo

Application

According

IEC 61491

Data

Link

Layer

(DL)

Application

Layer

(AL)

DL

Address

DL

Info

Sync Man

Settings

Slave Inform

ation

FMMUFMMU

FMMUFMMU n

DL Control/

DL Status

File

Access

Appli-

cation

Layer

Management

Ethernet

Physical

Layer (PHY)


Application

EtherCAT Slave Controller (ESC)

Application

e.g. CiA402 Drive Profile

HTTP,

FTP, ..Appli-

cation

PHY

Trafo

RJ45PHY

Trafo

RJ45

FMMU

SyncMan1 MbxIn

SII

EEPROM

MII / EBUS

Port 3

MII / EBUS

Port 1

EtherCAT Processing Unit

and Auto-Forwarder with Loop Back

LVDS

Con

Process DataMailboxRegisters

Data

Link

Layer

(DL)

Physical

Layer

(PL)

FMMU

SyncMan2 SyncMan3

SDO

Object Dictionary

PDO...

Application

Layer

(AL)File

Access

TCP, UDP

ESC Address Space (DPRAM)

FMMUFMMU n

IP

PDO Mapping

CoECoEEoEFoEVoE

Process Data Interface (µC, SSI, I/O )

….

PHY

Management

FMMU n

SyncMan0 MbxOut

RD / WR

MII / EBUS

Port 0

MII / EBUS

Port 2

Ethernet HDRLRWProcess DataFPWRMailbox DataMore Datagrams..FCS ECAT HDR

WKC

WKC

HDR

HDR

Mailbox DLL

0x0000 0x1000


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Purpose of Data Link Layer

• Data Link Layer links Physical and Application Layer

• Data Link Layer takes care of the underlying communication infrastructure

– Link Control

– Access to Transceivers (PHY)

– Addressing

– Slave Controller configuration

– EEPROM access

– SyncManager configuration and management

– FMMU configuration and management

– Process Data Interface configuration

– Distributed Clock

– Set Up AL State Machine interactions


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Data Link Layer – Overview

• Standard IEEE 802.3 Ethernet Frame

– No special requirements for the master

– Use of standard Ethernet infrastructure

• IEEE Registered EtherType: 88A4h

– Optimized frame overhead

– IP stack not required

– Simple master implementation

• Additionally over UDP (IANA registered Port 88A4h)

– EtherCAT communication over the Internet possible

– Using of standard sockets

• Frame processing at Slave side

– EtherCAT Slave Controller processes the frame in hardware

• Communication Performance independent from processor power

– no time critical reaction at slave side in software


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Ethernet / EtherCAT Frame Structure

Ethernet Frame: max. 1514 Byte

Ethernet Header Ethernet Data FCS

Destination EtherType

16 Bit48 Bit48 Bit 32 Bit

Source EtherCAT Data FCS

EtherType 88A4h

Destination EtherTypeSource

16 Bit

Header Datagrams FCS

48 -1498 Byte

Simple EtherCAT Communication

1

1

UDP Destination Port 88A4h

16 Bit

Dest TypeEtherType 0800h

Src IP Header UDP H.

160 Bit 64 Bit

Header Datagrams FCS

48 -1470 Byte

2

EtherCAT communication over Internet 2

TypeRes.Length

1 Bit 4 Bit11 Bit

Type of following data

Reserved

Length of following EtherCAT datagrams

(not checked by slave)


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Frame Header

TypeRes.Length

4 Bit11 Bit 1 Bit

0 11 12 15

Type Meaning

-----------------------------------------------------------------------

0: Reserved

1: EtherCAT Datagram (s)

the only type that is evaluated by the ESC

2,3: Reserved

4: Network Variables

5: Mailbox over IP

6-15: Reserved for future use


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Datagrams

Ethernet H. Ethernet Data FCS

EtherCAT Datagrams FCS

14 Byte 4 Byte2 Byte 44*-1498 Byte

Ethernet H. 10Len

* add 1-32 padding bytes if Ethernet frame is less than 64

EtherCAT Datagrams

Datag. Header Data WKC

10 Byte 2 Bytemax. 1486 Byte

WKC = Working Counter

1st EtherCAT Datagram nth EtherCAT Datagram2nd…. ….


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Working Counter Details

• EtherCAT Datagram ends with a 16 Bit Working Counter

• Working Counter counts the number of interactions of

devices addressed by an EtherCAT Datagram

• EtherCAT Slave Controller increments the Working

Counter in hardware – if the controller is addressed and

the addressed memory is accessible (Sync Manager)

• Each Datagram should have an expected Working counter

value – calculated by the configuration tool

• The Master checks the valid processing of EtherCAT

Datagrams by comparing the Working Counter with the

expected value

• Special case: RW addressing methods will increment

WKC by 2 for write access and by 1 for read access


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Working Counter Example

PC1xread+

1xwrite+

1+read/ write

= 5

node 2

DO=write

WC+1=2

node 1

DI = read

WC+1=1

node 3

DI/DO=

read+write

WC+3=5

WC=0 WC=1 WC=2 WC=5

WC=5WC=5WC=5

• WKC valid: data of this datagram was written to and

read from all addressed devices

• WKC invalid: memory of one or more devices was not

accessible


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Working Counter Example

WC+1

WC+1

WC+3

WC+1

WC+1


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Addressing




Ethernet H. 10Len


EtherCAT Datagrams




Cmd Idx Address Len R M IRQ

8 Bit 8 Bit 32 Bit 16 Bit11 Bit 4 1



EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Datagram Header Address

Ethernet Frame Header Address

EtherCAT Addressing Overview

Segment Addressing

Device Addressing

Position Addressing

Logical Addressing

Node Addressing

MAC

Address

Process Data

Address

Assigned Node

Address

Address by

physical Position


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Segment Addressing by MAC Address

EtherCAT Segment = Ethernet Device


Master

Device Switch

Segment

Address

Slave

Device

Slave

Device

Slave

Device

Slave

Device

Slave

Device

Slave

Device

Generic

Ethernet Device

Slave

Device

Slave

Device

Slave

Device

Slave

Device

Slave

DeviceMaster

Device

Segment

Address

Slave

Device

• Direct mode (no switch): broadcast MAC Address


Slave

Device

Slave

Device

Slave

Device

Slave

Device

Slave

Device

Slave

Device

Master

Device

• Open mode: One MAC-Address for an EtherCAT Segment


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Datagram Header Address




Ethernet H. 10Len


EtherCAT Datagrams




Cmd Idx Address Len R M IRQ

8 Bit 8 Bit 32 Bit 16 Bit11 Bit 2

More EtherCAT Datagrams?


C R

1 1 1

Circulating Datagram?


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Address Field

Auto Increment Addressing (local)

Cmd Idx

Position Offset

Len R M IRQ

Logical Address

8 Bit 8 Bit

16 Bit 16 Bit

16 Bit11 Bit 2

Address Offset

Address

32 Bit

Fixed Addressing (local)

Logical Addressing (global)

• 32 Bit address space

- used for 16 bit device addressing (65.535 devices

possible)

and 16 bit for addressing local memory space of device

(max. 64kByte)

or

- 32 bit logical addressing

C R

1 1 1


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Auto Increment Addressing

• Negative Auto Increment Address for every slave

depending on position (16 bit)

• Slave which reads address == 0x0000 is addressed

• Every slave increments address by 1

• Offset addresses local memory space of device

• Usually used during scan of hardware configuration

DVI

IPC

....

0xFFFE

0xFFFF

0xFFFD

0xFFFC

0xFFFB

0xFFF8

0xFFF9

1 2 3 4

5 6

7 8 9

0xFFFA

0x0000

Position Offset

16 Bit 16 Bit


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Fixed Addressing

• Every Slave has a fixed address (16 bit)

• Usually assigned during hardware configuration scan

• Independent from slave position

• Fixed address lost after power loss

DVI

IPC

....

0x3EA

0x3E9

0x3EB

0x3EC

1 2 3 4

5 6

7 8 9

0x3ED

0x3EE

0x3EF

0x3F0

0x3F1

Address Offset

16 Bit 16 Bit


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Logical Addressing

• Slave reads from/ writes its data into the 4 GByte great

Ethernet frame (fragmented)

0

232 Telegrammstruktur

Ethernet HDR HDR 1 PLC Data HDR 2 NC Data HDR n Data n CRC

PLC Data

Data n

NC Data

Sub-

Telegramm 1Sub-

Telegramm 2

Sub-

Telegramm n

DVI

IPC

..

..

Logical process image up to 4 GByte

Position

32 Bit


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Commands

• Different commands to optimize reading and writing for all

access methods within a Fieldbus communication system

Cmd Idx Len R M IRQ

32 Bit logical addressR, W, RWLogical

CommentOffsetAddressAccessCmd Type

Local Memory

Address

(increments)R, W, RWBroadcast

Match address value to

local address register

Local Memory

Address

Address

(configured)

R, W, RW,

RMW

configured

Address

Position value 0

(at entry) addressed

Local Memory

Address

Position

(increments)

R, W, RW,

RMW

Auto

Increment

No OperationNOP

Address Offset C R


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Commands

• 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 Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Local Address Space of ESC

Registers

User memory

process data in

process data out

mailbox data out

mailbox data in

0x0110 DL Control

0x0110 DL Status

0x0120 AL Control

0x0130 AL Status

……

4 kByte

1..60 kByte

ESC

0x1000

0xFFFF

0x0000

0x0FFF


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Local Address Space of ESC

• 64 kByte address space

• Divided into registers and dual ported RAM (DPRAM)

• First 4 kByte are reserved for registers

• DPRAM starts at 1000h

• DPRAM size depends on Slave Controller implementation

(up to 60 kByte, 4kByte in actual FPGA implementation)

• Addressing of registers and DPRAM same

• Register Write is different –

shadow Register for all Registers integrated

DPRAM write is not shadowed


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Register of EtherCAT Slave Controller

• First 1000h bytes (4 kbytes) of local address space

• Read access for both sides (EtherCAT and application)

• Write access from EtherCAT for most of the registers

– Master has to configure the Slave Controller

• No address settings needed

• FMMU and Sync Manager configuration can be optimized for available bandwidth and cycle times

– Exceptions that are writable from the application side:

• AL Status Register, AL Status Code Register, AL Event Mask Register, Sync Manager Disable Registers, AL Identification Registers

• Process Data Interface (PDI) register initialized from Slave Information interface (Serial EEPROM)


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Register

• Registers might be monitored via configuration tool


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Register – ESC Data Sheet

• Register description for every ESC (FPGA/ ASIC)

– DL Information, DL Control, DL Status, DL Address

– AL Control, AL Status, AL Event

– SyncManager + FMMU configuration

– Distributed Clocks

– Slave Information interface (Serial EEPROM )

Enable Disable Ports

Status of the device state machine

Error Code

32 Bit I/0, SPI, µC Interface

Control of the device state machine


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



SyncManager Overview

• SyncManager protects a DPRAM section from simultaneous access � data consistency

• Mailbox Type

– 1 buffer SyncManager supports handshake

– Data overflow protection

– Writing side must write before reading side can read

– Reading side must read before writing side can write again

• Buffered Type

– 3 buffer SyncManager guarantees consistent data delivery and access to the newest data any time

– Always a free buffer to write

– Always a consistent buffer to read (except before the first writing)

– Usually used for process data communication

• Up to 16 independent SyncManger channels possible

• The SyncManager configuration registers start at address 0x0800


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Buffered Type (3 buffers) Write Example

• Characteristic: Data always available for both sides

• Requires 3 (consecutive) memory areas

ECAT NEXT USEREtherCAT PDI

Write end

Write begin WRITE WRITE WRITE

WRITE WRITE WRITE

WRITE WRITE WRITE

WRITE WRITE WRITE

WRITE WRITE WRITE1 2 3

Read end

2

3

Read latest

available data

Read latest

available data READ READ READ

READ READ READ

READ READ READ

READ READ READ

READ READ READ

Write begin

2ECATECATECATECA

TECATECATECATEC

ATECATECATECATE

CATECATECAT

1WRITE WRITE WRITE

WRITE WRITE WRITE

WRITE WRITE WRITE

WRITE WRITE WRITE

WRITE WRITE WRITE

1WRITE WRITE WRITE

WRITE WRITE WRITE

WRITE WRITE WRITE

WRITE WRITE WRITE

WRITE WRITE WRITE

3READ READREAD READ READ

READ READ READ

….Go on Reading

a

b

c

Cycle begins again � a


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Mailbox Type (1 buffer) Read Example

• Allows handshake Communication

• Useful for non-Process Data

• Handshake mechanism – one side has control

EtherCATMaster

FailedMBX Empty

Read ��

Read

WKC = 0

Write ��

Write

MBX Full Successfull

Slave

MBX Empty

Read ��

Read

WKC = 1

Successfull


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



SyncManager channel configuration registers

Start Address Length Ctrl Status E

16 Bit 16 Bit 8 Bit 8 Bit 16 Bit

Channel

Enable

1/3 Buffer R/W IE IP WD R

00: 3 Buffer

10: 1 Buffer

00: Read

01: Write

Interrupt

Enable

to PDI

Watchdog

Enable

0 2 4 5 6 7

IW 1PWD Res.IR 3P

Completely

written

Completely

read

0: read

1: written

00: Buffer 0

01: Buffer 1

10: Buffer 2

11: locked (Start)

0 1 2 3 4 6

0 16 32 40 48 49

Repeat Reserved

R49 49

Res50

0 1

E49R

5649Res

57 63

Request

MasterResponse

Slave


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



SyncManager assignment

• 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 Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Fieldbus Memory Management Unit (FMMU)

• Maps a section of the local address space into the global

address space and vice versa

• Read and write access distinguishable

• Bitwise configuration of the memory section possible

• Up to 16 independent FMMU channels possible

– FMMU configuration registers start at address

0x0600

• Operation samples:

• Mapping of process data into the global address space

• Mapping of status bits from the register section

– Access to device specific status information with a

minimum overhead – e.g. fill status of a sync

manager channel


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



FMMU Usage for Addressing

• Global address space

• 4 GByte address space

• Mapping to local addresses by

Fieldbus Memory Management Units (FMMU)

• All EtherCAT devices can map data in a single EtherCAT

Datagram LRW – depending on the FMMU configuration

Ethernet HDR EH Data FCSFH WKC


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



FMMU entity configuration registers

Glob. Start Addr. Length GSB

32 Bit 16 Bit 8 Bit

Enable

GEB Phy. Start LSB Dir E Res…

8 Bit 16 Bit 8 Bit 8 Bit 1 31 Bit

0-7 Reserved W ReservedR

Global

Start Address

(32 Bit)

Length of all

concerned

Bytes

GSB: Global Start Bit

GEB: Global End Bit

LSB: Local Start Bit

Read Enable

Write Enable

Local

Start Address

(16 Bit)

3 Bit 5 Bit 6 Bit

0 32 48 56 64 80 88 96 97 127

0 3 7 7210


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



FMMU Setup

1. Master reads hardware configuration including input and

output data length of each slave

2. Master organizes mapping of process data

3. Master distributes information (start address etc.) for

every slave about where process data in logical process

image is provided

4. Process data communication starts


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



FMMU example

• Map 6 Bits form logical address 0x14711.3 to 0x14712.0 to

the physical register bits 0x0F01.1 to 0x0F01.6.

– The FMMU length is 2 Byte, since the mapped bits

span 2 Bytes of the logical space.

1 (enable)0xCActivate

Rand and/or Write0xBType

0x01

0x0F01

0x00

0x03

0x0002

0x00014711

ValueFMMU reg. offsetFMMU config. register

0x0:0x3Logical Start Address

0x4:0x5Length (Byte)

0x6Logical Start Bit

0x7Logical Stop Bit

0xAPhysical Start Bit

0x8:0x9Physical Start Address

Note: FMMU configuration registers start at address 0x0600


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Diagnosis at Data Link – Possible Errors

Close loop in the middle

Check errors again

If no frame loss repeat this in the 2nd half of

segment

Otherwise repeat this in the first half of segment

Repeat this until only a single station remains,

which should be the station with problems

Frame loss

Check working counter of a Broadcast readLink loss/

Station fault

Check Link Status of last device (should have

only a single port connected)

Change

between In and

Out Cable

Check Transmission Error Counter of each stationTransmission

Errors

Check EEPROM, Vendor, Device, SerialNoWrong Station

DetectionError situation


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Monitoring of EtherCAT Communication

Switch

Master

• Masters sends an EtherCAT Frame (broadcast)

� Monitor gets the first copy (unprocessed)

• Frame returns from EtherCAT Slave Devices

� Monitor gets the second copy (processed)

• DLL for readable format available on EtherCAT Web site

Network Monitor


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Monitoring of EtherCAT Communication

Master

• Masters sends an EtherCAT Frame (broadcast)

� Monitor gets the first copy (unprocessed)

• Frame returns from EtherCAT Slave Devices

� Monitor gets the second copy (processed)

• DLL for readable format available on EtherCAT Web site

Network Monitor

Attention:

At low cycle times order of frames might be mixed because of timing restrictions within

NDIS protocol driver


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Purpose of Application Layer (AL)

• EtherCAT State Machine

• Mailbox Interfaces and Protocols

– Ethernet over EtherCAT

– CANopen over EtherCAT

– Filetransfer over EtherCAT

– Servo Drive over EtherCAT

• Slave Information Interface (SII)


Application


Application


HTTP,

FTP, ..Appli-

cation

PHY

Trafo

RJ45PHY

Trafo

RJ45

FMMU

SyncMan1 MbxIn

SII

EEPROM

MII / EBUS

Port 3

MII / EBUS

Port 1



LVDS

Con


Data

Link

Layer

(DL)

Physical

Layer

(PL)

FMMU

SyncMan2 SyncMan3

SDO

Object Dictionary

PDO...

Application

Layer

(AL)File

Access

TCP, UDP


FMMUFMMU n

IP

PDO Mapping

CoECoEEoEFoEVoE


….

PHY

Management

FMMU n

SyncMan0 MbxOut

RD / WR

MII / EBUS

Port 0

MII / EBUS

Port 2


WKC

WKC

HDR

HDR

Mailbox DLL

0x0000 0x1000


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Purpose of EtherCAT State Machine

• State Machine is build upon the Data Link Layer

• Defines general communication states of EtherCAT slave

devices

• Specifies the initialization and error handling of EtherCAT

slave devices � Boot-up of the network

• States correspond to the communication relationship

between master and slave

• Requested and current state of a slave device are

reflected in the AL Control and AL Status registers

• Five states are defined:

– ‘Init’, ‘Pre-Operational’, ‘Safe-Operational’,

‘Operational’

– ‘Bootstrap’ optional state for firmware updates


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT State Machine

Init

(IP)

Pre-Operational

Operational

Safe-Operational

(OP)

(PI)

(PS) (SP)

(OS)(SO)

(SI)

(OI)

Bootstrap(optional)

(IB) (BI)


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



State Machine / Init

• ‘Init’ State

• No communication on the

Application Layer

• Master has access to the

DL-Information registers

• 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

Init

Pre-Operational

Operational

Safe-Operational


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



State Machine / Pre-Operational

• ‘Pre-Operational’ State

• Mailbox communication on the

Application Layer

• No Process Data communication

• 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

Init

Pre-Operational

Operational

Safe-Operational


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



State Machine / Safe-Operational

• ‘Safe-Operational’ State

• Mailbox communication on the

Application Layer

• Process Data communication,

but only Inputs are evaluated –

Outputs in ‘Safe’ state

• Transition to ‘Operational’

• Master sends valid Outputs

• Master requested ‘Operational’ state

(AL Control/Status)

Init

Pre-Operational

Operational

Safe-Operational


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



State Machine / Operational

• ‘Operational’ State

• Inputs and Outputs are valid

Init

Pre-Operational

Operational

Safe-Operational


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



State Machine / Bootstrap

• ‘Bootstrap’ State

• ‘Bootstrap’ State is optional –

but recommended if firmware

updates necessary

• State changes only from and to ‘Init’

• 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)

Init

Pre-Operational

Operational

Safe-Operational

Bootstrap


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



State Machine / Control and Status

• Requested and current state of a slave device are

reflected in the AL Control and AL Status registers

– AL Control (0x0120)

Initiate State Transition of Device State Machine

– AL Status (0x0130)

Actual State of Device State Machine

– AL Status Code (0x0134)

Reason of error or other status code


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Diagnosis at Application Layer

• AL Status Code (0x0134)

– Error Codes (extract)

– Further Status Codes (extract)

Sync manager watchdog0x001B

Synchronization error0x001A

No valid outputs0x0019

No valid inputs available0x0018

Invalid mailbox configuration0x0015

Invalid requested state change0x0011

No Error0x0000

DescriptionCode

Invalid DC Latch Configuration0x0031

Invalid DC Sync Configuration0x0030

Slave need PREOP0x0022

Slave needs INIT0x0021

DescriptionCode


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Full duplex capable

Mailbox Transfer for Parameter Data

Mailbox Transfer

DVI

IPC

....

Statusword0x6041

Controlword0x6040

Actual values0x2070

Motor parameter0x2040

Velocity control0x2010

Current control0x2000

TxPDO Mapping0x1A00

RxPDO Mapping0x1600

ValueIndex

Device Parameter (example)

Simple IO-Device

No Parameter

� No Mailbox necessary

State "PreOperational"


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Purpose of Mailbox Transfer

• Standard way to exchange Parameter Data

• The Mailbox Interface is optional – but recommended

• Needed if Process Data configurable or any other non

cyclic services

• Full duplex capable

(Slave can initiate a communication)

• 2 Sync Manager channels reserved

– Sync Manager 0 : Master to Slave

– Sync Manager 1 : Slave to Master

• Available at early stage of communication

(State Pre-Operational)

• Multi protocol capable


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Mailbox Protocol Types

• Ethernet over EtherCAT (EoE)

– Tunnels standard Ethernet Frames over EtherCAT

• CANopen over EtherCAT (CoE)

– Access of a CANopen object dictionary and its objects

– CANopen Emergency and optional event driven PDO messages

• File Access over EtherCAT (FoE)

– Download and upload firmware and other ‘files’

• Servo Drive over EtherCAT (SoE)

– Access the Servo Profile Identifier (IDN)

• Vendor specific Profile over EtherCAT (VoE)

– First DWORD contains the Vendor ID, the next WORD contains a Vendor Type, the rest is vendor specific


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Mailbox Interface

• Datagram within an EtherCAT Frame

• 2 Sync Manager channels (1 buffer-mode) reserved

– Sync Manager 0 : Master to Slave Mbx

– Sync Manager 1 : Slave to Master Mbx

EC HeaderType = 1

EtherCAT Data

1st EtherCAT Datagram nth EtherCAT Datagram…

Ethernet HeaderType = 88A4h

FCS

2nd …


Mailbox Protocol

Mbx Header Command Cmd specific data


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Mailbox Header

Mbx Header Command Cmd specific data

48 Bit

Length0

Address Channel Prio Type Cntr

16 Bit 16 Bit 6 Bit 2 Bit 4 Bit 4 Bit

16 32 38 40 44

Length of following dataLength

Station Address of originatorAddress

reserved for future useChannel

reserved for future usePriority

Sequence number for duplicate detection

Increments with every new mailbox service (only the values 1-7 will be used to be compatible with older versions).

Counter

Mailbox Type, Protocol identifier for following data0 Mailbox Error

2 EoE (Ethernet over EtherCAT)

3 CoE (CANopen over EtherCAT)

4 FoE (File Access over EtherCAT)

5 SoE (Servo Drive over EtherCAT)

15 VoE (Vendor specific profile over EtherCAT)

Type


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Resilient Mailbox Procedure

• Reliable way of mailbox data exchange

• Mailbox control procedure

• Recover from lost frames

• No additional frames if no error

• Additional receive buffer required

• Extra counter in mailbox header needed

• HW/SW solution

– SyncManager configuration register with toggle flags

– SW-Mailbox-DL Layer for checking toggle bits


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Mailbox Error Handling – Sync Manager

• Sync Manager channel configuration registers

WTStart Address Length Ctrl Status

16 Bit 16 Bit 8 Bit 8 Bit

0 16 32 40E Res.

6 Bit1

48 49 63D Res.

6 Bit1

56 5850RT57

1 1

WT – SM Write Toggle

RT – SM Read Toggle

• Following:

– Mailbox Error Handling - Write Example

– Mailbox Error Handling - Read Example


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Mailbox Error Handling – Mailbox Write

MBX_MailboxWriteInd

Master Slave

FPWR response got lost,

Master repeats the Mailbox

Write without incrementing

the Mbx Hdr Ctr

Slave receives Mailbox Write Event

and calls MBX_MailboxWrite Ind

to start the handling on the Mailbox

Write service

Mailbox Write (Mbx Hdr Ctr=1)

Mailbox Write (Mbx Hdr Ctr=1)

Slave receives Mailbox Write Event,

detects an unchanged counter

in the mailbox header and discard

the Mailbox Write Service


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Mailbox Error Handling – Mailbox Read

Master Slave

FPRD response got lost,

Master starts a repeating

sequence and shall not

read the mailbox again

before the repeating

sequence Is finished

Slave puts the Mailbox Read service

in the send mailbox and stores

the actual sent buffer

Slave receives Mailbox Read Event

and stores the sent buffer for a

possibly repeated service

MBX_MailboxSendReq(pMbx)

psReadMbx = pMbxMaster sends FPRD service,

to read the mailbox

psRepeatMbx = psReadMbx

Slave detects the Mailbox Repeat

request by checking the SM-Write-

Toggle, puts the psReceiveMbx

buffer in the Send mailbox and

toggles the SM-Read-ToggleMaster reads cyclically

the SM-Read-Toggle to

check if the Slave has

finished the repeat request

When the SM-Read-Toggle

has toggled the master reads

the send mailbox again

Mailbox Read

Mailbox Repeat (toggles SM-Write-Toggle)

Read SM-Read-Toggle

Mailbox Read (Mbx Hdr Ctr=1)

Mailbox Read

Mailbox Read (Mbx Hdr Ctr=1)

psReadMbx = psRepeatMbx


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Ethernet over EtherCAT (EoE)

virtual

Ethernet

Switch

Functionality

Web server

virtual MAC Address

IP Address

Label printerWeb access on device with

web server

Even via

Internet

Switchport-

Terminal

Master

TCP/IP


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Purpose of Ethernet over EtherCAT (EoE)

• Tunnels transparently Ethernet Frames over EtherCAT

• Tunneling reduces the cycle times without restrictions and

to optimized available bandwidth

• Used for devices with TCP/IP stacks (e.g. Web Server)

and for infrastructure devices like Switch Terminals

• Allows to access corresponding devices in the normal IP

network in combination with a ‘Virtual Ethernet Switch’

(Layer 2) on the master side


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EoE – Switchport: Any Ethernet Protocol

• Interface to any Ethernet Device or Network

• Ethernet Frames are inserted in EtherCAT Protocol

EtherCAT Switchport

EtherCAT MAC / DLL PHYPHY

Process DataMailbox

µC

Ethernet MAC PHY

Fragmentation

TX1TX2TX3

TX

TX2TX3TX1

RX RX4RX1 RX2 RX3


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EoE – Virtual Switch on Master

EoEVirt.

Switch

172.17.1.1

172.17.1.4


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EoE – Bandwidth estimation

• EtherCAT Realtime not restricted by EoE


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EoE – Frame Header

Mbx HeaderType = 2 (EoE)

EoE Cmd Cmd specific data

4 Byte

Type

4 Bit

Port

4 Bit

LF

1B

TA TR

1B 1B

res

5B

Frag.

NoSize

Frame

No

6 Bit 6 Bit 4 Bit

Number of the Ethernet FrameFrame No

Complete size of Ethernet FrameSize

Fragment Number of the Ethernet Frame fragmentFragment No

Time stamp requestTR

Time stamp appended (only if LF=1)TA

Last fragmentLF

Selected PortPort

EoE Frame Type0x00 EoE Fragment Request

0x01 Initiate EoE Request

0x02 IP Parameter Request

0x03 IP Parameter Response

0x04 Set MAC Address Filter Request

0x05 Set MAC Address Filter Response

Type

8 Byte Max. 1476 Byte


EoE – Frames

EoE (Mbx Type = 2)

Mbx Header Fragment DataEoE Header (Type=0, TA=0)

Mbx Header Fragment DataEoE Header (Type=0,LF=1,TA=1) Time Stamp

Mbx Header IP Settings

Mbx Header MAC Filter Settings

Mbx Header

EoE Header (Type = 2)

EoE Header (Type = 4)

EoE Header (Type = 1) Time Stamp

n * 32 Byte

(except for the last fragment)

Mbx Header EoE Header (Type = 3)

Mbx Header EoE Header (Type = 5)

IP Settings Response

MAC Filter Settings Response

32 Bit


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EoE – Time Stamp

• 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 Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EoE – Time Stamp

• Time Stamp requested (TR = 1)

– Response with the exact send time and the same

FrameNo requested

– Response should be send as soon as possible

– Can be used for segment to segment synchronization


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EoE – Error Handling

• No special Error Handling required!

• EoE is a Layer 2 Protocol – logical like an Ethernet Switch

• If a fragment is missing, the whole frame will be discarded

• Frame loss is recognized at higher levels


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Purpose of CANopen over EtherCAT (CoE)

• Recommended protocol for Service Data Access

– Configuration of communication parameter

– Configuration of device specific parameter

• Easy migration path from CANopen Devices to EtherCAT CoE

Devices

– Protocol Stacks can be re-used


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Device

EtherCAT Slave Controller

Process DataMailbox

Ethernet Physical Layer

Service Data Objects

Object Dictionary

PDO Mapping

CoE CoE

CANopen Application

Process Data

CANopen over EtherCAT Device Architecture


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Standard CANopen Features

CANopen over EtherCAT (CoE)

• SDO: Access to a CANopen object dictionary ✔– Download and Upload of parameters

– Standard Process Data Mapping (PDO Mapping)

– Full Access to CANopen Profiles

• PDO: Process Data Objects ✔– Direct PDO transfer

– Remote Transmission Requests of PDOs

• Emergency Messages ✔• Network Management ✔

• + Object Dictionary Information (SDO Information)

– Upload of object dictionary (identifier lists)

– Upload of object description

– Upload of entry descriptions


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



CoE –Frame Header

Mbx HeaderType = 3 (CoE)

CoE Cmd Cmd specific data

Number

9 Bit

res

3 Bit

Type

4 Bit

PDO Number (PDO transfer only)Number

Message Type0 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

Type

2 Byte8 Byte Max. 1478 Byte


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



CoE – Standard CANopen Frames

Mbx HeaderType = 3 (CoE)

CoE Cmd Cmd specific data

SDO

Control

8 Bit

Index

8 Bit

Subindex

16 Bit

Optionally more than 4 bytes of data can be sent

with one frame.

Full mailbox size usable

Data (optional)

Data for the SDO-ServiceData

… and SubindexSubindex

Standard CANopen SDO ServicesSDO Control

Object Addressing by Index …Index

2 Byte8 Byte Max. 1478 Byte

DataData

(optional)

32 Bit 1 .. 1470 Byte

Standard CANopen Frame


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Example: ‘Initiate SDO Download’ Request

Mailbox Header CoE SDO

48 Bit 16 Bit

DataIndexI

8 Bit 32 Bit16 Bit

0 32 63

Data (optional)

64 Bit

0-4 Bytes E Size C Ccs Sub1 2 4 5 8 24

LengthIndexI0 32

E Size C Ccs Sub1 2 4 5 8 24

1 1 4-n 0 1

Data 7-n64

0 0 0 0 1

Data > Mailbox: ‘Download SDO Segment’ follows

L0

Size T Ccs1 4 5

Data 0-68

0/1 0 0/1 0

<= 7 BytesL

0

Size T Ccs1 4 5

Data 0-n8

0/1 7-n 0/1 0

63

Data 0-n64

Expedited

Mailbox Size

> 4 Bytes

> 7 Bytes

left

= Initiate SDO Download Request

= Download SDO Segment Request

the original

CANopen Protocol

(CiA DS301)


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Optional SDO Extensions to CANopen DS 301

• Breaking of the 8 byte border

– Full mailbox size usable � Block transfer unnecessary

– ‘Initiate SDO Download’ request / ‘SDO Upload’ response can contain data after SDO header

– ‘Download SDO Segment’ request / ‘Upload SDO Segment’ response can contain more than 7 bytes of data

• Downloading and Uploading all Subindices at once

– Bit 4 of the Initiate ‘SDO Download / Upload’ request header indicates a ‘Complete Access’ to an Index

– Sub Index field contains the start Subindex

• 0: Complete Index with all Subindices

• 1: Complete Index without Subindex 0


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



CoE: Optional SDO Information Protocol

• Access to object lists

– list of all supported object identifiers

– list of all object identifiers that can be mapped in

PDOs

– list of all object identifiers that should be included in

a backup

• Access to object descriptions

– Descriptions of objects – as defined in DS 301

• Access to entry descriptions

– Descriptions of object entries (sub index) – as

defined in DS 301


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



CoE – Object Dictionary

• Devices with an EtherCAT-CoE and a CANopen interface

are possible with the same object dictionary

MeaningIndex Range

reserved0xA000 – 0xFFFF

Profile specific0x6000 – 0x9FFF

Manufacturer specific0x2000 – 0x5FFF

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

0x1000 – 0x1FFF

Data Type Description0x0000 – 0x0FFF


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



CoE – Online Object Dictionary


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



CoE – New objects for EtherCAT

• SyncManager Communication Type

– Subindex (1-32) defines communication type of the corresponding Sync Manager channel

• Mailbox Out (= 1 buffer write)

• Mailbox In (= 1 buffer read)

• Process Data Out (= 3 buffer write)

• Process Data In (= 3 buffer read)

• SyncManager PDO Assign

– Contains a list of assigned PDOs for each Sync Manager channel (Index of PDO mapping objects)

– Assigned PDO in Subindex 1 to n describe the process data parts of the Sync Manager channel

• SyncManager Parameter

– SubIdx 1: Synchronization type (Freerun, synchron, DC Sync0, DC Sync1, SyncSm0 .. SyncSm1F)

– SubIdx 2: Cycle time

– SubIdx 3: Shift time

MeaningIndex

SyncManager Parameter 0x1C30 – 0x1C4F

SyncManager PDO Assign 0x1C10 – 0x1C2F

SyncManager Communication Type 0x1C00


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



CoE – Process Data Objects

• Standard CANopen PDO frames can be used

• CANopen PDO mapping used for EtherCAT too

• PDOs usually are related to their „own“ Sync Manager

channels

– Cyclic data transmission

– No PDO communication parameters necessary

• PDOs can be transmitted by the mailbox for acyclic

communication

Process Data

1…8 Byte

Process Data

1..n Byte

Standard CANopen PDO frame optional


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



CoE – PDO Process Data mapping

• No mapping protocol implemented for very simple devices

– Fixed process data

– Readable via EEPROM – no SDO protocol necessary

• Readable PDO Mapping

– Fixed process data mapping

– Readable via SDO

• Selectable PDO Mapping

– Multiple fixed PDO – selectable via CoE object (1C1xh)

– Selectable via SDO (required)

• Variable PDO Mapping

– Configurable via CoE or SoE required

– Writable PDO content


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



CoE – PDO Configuration


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



CoE – Emergency Message

• Standard CANopen Emergency frames can be used

• More than 5 bytes of data can be send optionally with one

frame

DataError RegisterErrorCodeCoE HeaderMailbox Header

2 Bytes6 Bytes 2 Bytes 1 Byte 5 Bytes

Data

1..n Bytes

Standard CANopen Emergency frame optionalMandatory Header


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



File Access over EtherCAT (FoE)

• Similar to TFTP (Trivial File Transfer Protocol, RFC 1350)

• Simple to implement – suitable for bootstrap loaders

• 6 Services are defined:

– WRQ: Write request with “file name”

– RRQ: Read request with “file name”

– DATA: Data block (full mailbox size used)

– ACK: Acknowledgment of DATA and WRQ requests

– ERR: Error notification with predefined error codes

– BUSY: Busy notification in case of longer procedures,extension to TFTP (e.g. erasing of flash modules)

• Special mailbox configuration for bootstrap mode possible

– Fixed addresses and fixed size of the mailbox

– Configuration defined by device (EEPROM)


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



File Access over EtherCAT (WRQ, normal)

Master Slave

WRQ (with file name)

ACK (packet no 0)

DATA (packet no 1, full mailbox)

ACK (packet no 1)


ACK (packet no 2)

DATA (packet no 3, less data or zero data)

ACK (packet no 3)


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



File Access over EtherCAT (WRQ, with busy)

Master Slave


ACK (packet no 0)


ACK (packet no 1)

DATA (packet no 2, less data or zero

data)BUSY (X of N done)


BUSY (Y of N done)


ACK (packet no 2)


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



File Access over EtherCAT (WRQ, with error)

Master Slave


ERR (error code and optional error text)


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



File Access over EtherCAT (RRQ, normal)

Master Slave

RRQ (with file name)


ACK (packet no 1)


ACK (packet no 2)


ACK (packet no 3)


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Servo Drive over EtherCAT (SoE)

• Implements Service Channel

– Read / Write to several elements of an IDN (Ident number)

– Support of Procedure Commands

– Slave Info

• The mapping of the IEC 61800-7-1 Annex D (SERCOS™) on

EtherCAT is described in IEC 61800-7-3 Annex D


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



SoE – Frame Header

Mbx HeaderType = 5 (SoE)

SoE Cmd Cmd specific data

4 Byte

Cmd

3 Bit

Incomp

1 Bit

Drive

3 Bit

contains IDN according to IEC 61800-7-2 Annex D

or an indicator for fragments left in case of segmented service

IDN

Contains the ElementFlags. There is a single Flag for each

element of an IDN indicating which elements of the object

addressed by the IDN are accessed

Element

Indicates if an Error has occurredError

Contains the address of the drive inside the slave device that is

addressed

Drive

Indicates if execution of another service is needed to complete

the operation

Incomplete

Command TypeRead Request, Read Response, Write Request, Write Response, Notification

Command

Err

1 Bit

Element

8 Bit

IDN

16 Bit

6 Byte Max. 1476 Byte


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



SoE Communication phases

Init

(IP)

Pre-Operational

Operational

Safe-Operational(OP)

(PI)

(PS) (SP)

(OS)(SO)

(SI)

(OI)

Phase 0 / 1

Phase 2

Phase 3(with Inputs)

Phase 4

(S-0-0128)

(S-0-0127)

EtherCATIEC 61784

CPF 16

• SERCOS communication phases (CPs) comparable to EtherCAT state machine

• Phases 0 and 1 covered by the ‘Init’

• Phase 2 corresponds to ‘Pre-Operational’

allows access to the IDNs via ‘service channel’ (SoE).

• Phase 3 mapped to ‘Safe-Operational’

slave shall transmit valid inputs, ignore outputs from the master.

• ‘Operational’ corresponds to phase 4

all inputs and outputs are valid.


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Slave Information Interface (SII)

PHY PHY

Trafo

Trafo

RJ45

RJ45

ESC

Host

CPU

EEPROM

DVI....

EDSXML

Slave

ESC

Configuration

Data


Application


Application


HTTP,

FTP, ..Appli-

cation

PHY

Trafo

RJ45PHY

Trafo

RJ45

FMMU

SyncMan1 MbxIn

SII

EEPROM

MII / EBUS

Port 3

MII / EBUS

Port 1



LVDS

Con


Data

Link

Layer

(DL)

Physical

Layer

(PL)

FMMU

SyncMan2 SyncMan3

SDO

Object Dictionary

PDO...

Application

Layer

(AL)File

Access

TCP, UDP


FMMUFMMU n

IP

PDO Mapping

CoECoEEoEFoEVoE


….

PHY

Management

FMMU n

SyncMan0 MbxOut

RD / WR

MII / EBUS

Port 0

MII / EBUS

Port 2


WKC

WKC

HDR

HDR

Mailbox DLL

0x0000 0x1000


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Purpose of Slave Information Interface

• The mandatory Slave Information Interface (SII) consists of

all objects that can be stored persistently.

• The information is stored in an EEPROM

• EtherCAT Slave Controller has SPI interface to EEPROM

– 1 kBit … 4 MBit

• The SII contains

– boot configuration data

– device identity (mandatory)

• Vendor Id, Product Code, Revision No, Serial No

• Same information in CoE object 0x1018

– application information data

• Contains additional information (optional)

– Subdivided in categories


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



SII – EEPROM content


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



SII – EEPROM Layout

EtherCAT Slave Controller Configuration Area

VendorId ProductCode RevisionNo SerialNo

Additional Information (Subdivided in Categories)

…

0

16

32

Byte

128

Hardware Delays Bootstrap Mailbox Config48

Reserved

Mailbox Sync Man Config

Category FMMU

Category Strings

Category Generals

Category SyncManager

Category Tx- / RxPDO for each PDO


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EEPROM – Slave Configuration Area

CRC of first 6 words

(x^8+x^2+x+1, initial value 0xFF)

Initialization value for Configured Station Alias

Address register

Initialization value for extended PDI

Configuration register

Initialization value for Pulse Length of SYNC

Signals register

in Units of 10 ns

Initialization value for PDI Configuration

register

Depends on the selected PDI,

Configuration of Sync0 and Sync1 Pin

Initialization value for PDI Control register

(EEPROM ADR 0x0000.9 is also mapped to

register 0x0110.2)

Description

Checksum7

Reserved5, 6

0x0012

0x0013

Configured Station Alias4

0x0152

0x0153

Extended PDI

configuration

3

0x0982

0x0983

0x0150

0x0151

0x0140

0x0141

Corresp.

Register

PDI configuration, 1

Pulse length of SYNC

signals

2

PDI Control0

ParameterEEPROM

Word

Address


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



SII – Categories

• Contains optional information

• Divided in categories

– Standard category(s)

– Vendor category(s)

• Same header for all categories

– Category Type

– Word-Length of data

Category Length

16 Bit 16 Bit

Data…

Receive PDO EntriesRxPDO

Transmit PDO Entries TxPDO

Modes of operation, EnableSyncManger

Device InformationGeneral

FMMU usageFMMU

Text stringsSTRINGS

MeaningCategory


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Device Profiles – Motivation

• EtherCAT supports complex slaves

• Slaves with multiple channels are common

• Channels consists of

– Process data (Inputs/Outputs)

– Configuration

– Diagnosis

– …

• Different channels may have different functionality

�� Profile for Modular Devices


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Device Profiles - Overview

Modular Device Profile Frameworkgeneral profile

Static Device Profile – No. 5001

Modular Devices with fixed

configuration

Dynamic Device Profile – No. 5002

Fieldbus Master Profile – No. 5002

Modular devices with dynamic

configuration

Profiles are EtherCAT specific!

Based on


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Structuring of Object Dictionary

• Mapping of PDO like simple devices

• Basic Idea of Mapping SDO is to have

– Several areas with dedicated functions

– Each IO Channel can have several objects in this

areas

– The number of objects per IO Channel depends

upon implementation

– Up to 4096 Channels can be managed by a single

slave


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Object Dictionary of Dynamic Device Profile

• 0x0000 – 0x0FFF Data Type Area

• 0x1000 – 0x1FFF: Communication Area

• 0x2000 – 0x5FFF: Manufacturer specific Area

• 0x6000 – 0x6FFF: Input Area

• 0x7000 – 0x7FFF: Output Area

• 0x8000 – 0x8FFF: Configuration Area

• 0x9000 – 0x9FFF: Information Area

• 0xA000 – 0xAFFF: Diagnosis Area

• 0xB000 – 0xBFFF: Service Transfer Area

• 0xC000 – 0xEFFF: Reserved Area

• 0xF000h – 0xFFFF: Device Area


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Example for Dynamic Device Profile

BK1120 + DI 4 + DO 8 + AO 2BK1120 + DI 4 + DO 8 + AO 2

SI…Subindex (SI0 = number of SIs of this object)

EtherCAT Slave BK1120

Dig. Input 4 Dig. Output 8

Input Entries

RxPDO (Output)

Ouput Entries

Anal. Output 2

TxPDO (Input) 0x1A01

0x7010:SI

SI0, 1-8

0x6010

0x1601

0x1A02

0x7020:SI

SI0, 1-2

0x6020:SI

SI 0, 1-2

0x1602

0x6000:SI

SI 0,1-4

0x1A00

0x1600

0x7000


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Fieldbus Gateway Profile

• Gateways from EtherCAT to legacy Fieldbusses like

- CANopen

- Profibus

- DeviceNet

- …


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Drive Control - Modes of Operation

Torque

controlM

Velo.

control

Pos.

control

Pos.

Gen.

NC/ PC Drive

sv

t

EtherCAT

Torque

controlM

Velo.

control

Pos.

control

Pos.

Gen.

NC/ PC Drive

sv

t

EtherCAT

Torque

controlM

Velo.

control

Pos.

control

Pos.

Gen.

NC/ PC Drive

sv

t

EtherCAT


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Purpose of Drive Profiles

• Definition of drive specific parameters

• Mapping of the parameters

• State machine of drives

• Synchronization behaviour


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Drive Profile

IEC 61800-7-1 Interface definition

Annex A:Mapping toCiA402

Annex B:Mapping to

CIP

Annex C:Mapping toPROFIdrive

IEC TR 62390Device profile guideline

IEC 61800 Parts 1 to 6Adjustable speed electrical power drive systems

Annex D:Mapping toSERCOS

Abstractmodels

GenericPDSinterface

Mapping tosolutions(profiles)

Driveprofiles

Annex D:Profile

SERCOS

Annex C:Profile

PROFIdrive

Annex B:ProfileCIP

Annex A:ProfileCiA402

IEC 61800-7 Generic interface and use of profiles for power drive systems

IEC 61800-7-2 Profile specifications

Mapping toCANopen

Mapping toEtherCAT

Mapping toPROFIBUS

Mapping toPROFINET

Mapping tonetwork technologies

Mapping toDeviceNet

Mapping toEtherNet/IP

Mapping toSERCOS

I + II

Mapping toSERCOS

III

Mapping toETHERNETPowerlink

Mapping toEtherCAT

Mapping toControlNet

IEC 61800-7-3 Mapping of profiles to network technologies

Annex A Annex B Annex C Annex D

EtherCAT is Part of the drives standard in Annex A and D

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 Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



M S

S

S S S S S

S

∆t

Purpose of Distributed Clocks (DC)

Precise Synchronization (<< 1 µs!) by exact adjustment of

distributed clocks

DVI

IPC

....


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



M S

S

S S S S S

S

External Clock Synchronization: IEEE 1588

Switchport with integrated

IEEE 1588 Boundary Clock

DVI

IPC

....

IEEE 1588

Grandmaster

Clock

Boundary

Clock


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Distributed Clocks – Features

• Synchronization of EtherCAT devices

• Definition of a System Time

– Beginning on January, 1st 2000 at 0:00h

– Base unit is 1 ns

– 64 bit value (enough for more than 500 years)

– Lower 32 bits spans over 4.2 seconds

• Normally enough for communication and time

stamping

• Definition of a Reference Clock

– One EtherCAT Slave will be used as a Reference Clock

– Reference Clock distributes its Clock cyclically

– Reference Clock adjustable from a “global” Reference

Clock – IEEE 1588


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Distributed Clocks Unit


FMMU n

SyncMan

EtherCAT Address Space



Port 0 Port 1 Port 2 Port 3

PHY

Trafo

RJ45

PHY

Trafo

RJ45

Distributed Clocks

SPI / µC parallel

Digital I/O Sync0 / Latch0

Sync1 / Latch1IRQ

Process Data Interface

(PDI)

Sync / Latch Unit

DC

Control

System Time

Offset

Delay


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Features of DC Unit within ESC

• Provider for local time signals

– Generation of synchronous local output signals

(SYNC0, SYNC1 Signals)

– Generation of synchronous Interrupts

• Synchronous Digital Output updates and Input sampling

• Precise time stamping of input events (Latch unit)


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Features of DC Unit within ESC

• Propagation delay measurement support

– Each EtherCAT slave controller measures the delay

between the two directions of a frame

– Master calculates the propagation delays between all

slaves

• Offset compensation to Reference Clock

– Offset between local clock and Reference Clock

– Same absolute system time in all devices

– Simultaneousness (clear below 100ns difference) in

all devices

• Drift compensation to Reference Clock

– DC Control Unit


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Register System Time

• Registers:

– System Time(0x0910:0x0917, small systems 0x0910:0x0913)

• System Time

– Read access from both sides (EtherCAT and µC)

– Consistent access from µC (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 Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



DC – Propagation Delay Measurement (I)

EtherCAT Node measures time difference between leaving and

returning frame

vom MasterEtherCAT Frame


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



DC – Propagation Delay Measurement (II)

Propagation delays between any nodes can be computed

DVI

IPC

....


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Propagation Delay Measurement

• Registers:

– Receive Time Port 0 (0x0900:0x0903)

– Receive Time Port 1 (0x0904:0x0907)

– Receive Time Port 2 (0x0908:0x090B)

– Receive Time Port 3 (0x090C:0x090F)

– System Time Delay (0x0928:0x092B)

• Write access to Receive Time Port 0 activates latch

– Latch local time of SOF (Start of Frame)

– At EOF (End of Frame) SOF time is copied to Receive Time Port X

• Receive Time Port X in local clock units (controlled)

• SOF time of all frames are latched on all ports internally

• Master reads all time stamps and calculates the delay times withrespect to the topology.

• Individual delay time is written to register System Time Delay


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



MS

S

S S S S S

S

∆t

Offset and Drift Compensation

Same System Time in all devices

DVI

IPC

....

Global System Time

e.g. by RTC or IEEE1588

Reference: Jan 1st 2000

Individual

System Time Offset


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Offset Compensation

• 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 Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Drift Compensation – DC Control

• 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 clockelse if (∆t < 0) accelerate local clock


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



System Time Distribution

Local

Clock @ SOF

Start of Frame (SOF)

Receive Time

Port 0-3

Write to Receive Time Port 0

System Time

Offset+ +-

-

System Time

Delay

Write to System

Time register

SyncSignal

generation

and

LatchSignal

time stamping

Add 9/10/11

every 10ns Local

Clock

Time Control

Loop

System Time (local copy)


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Initialization of DCs

• Initialization with Propagation Delay compensation1. Master reads the DL Status register of all slaves and calculates the network topology.

2. 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.

3. Master waits until the broadcast write frame has returned.

4. 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.

5. 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.

6. 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.

7. 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.

8. 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.

9. 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.


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



SyncSignal Generation

• Output of the Sync unit can be used for

– Interrupt generation

– PDI Digital Output Update events

• Can be mapped to

– AL Event Request Register forPDI IRQ

– SYNC0 and SYNC1

• SyncSignals can be generated at a specific System Time

• Four Operation modes are supported:

– Cyclic generation

– Single shot

– Cyclic acknowledge

– Single shot acknowledge

• The second SyncSignal (SYNC1) depends on SYNC0, it can be generated with a predefined delay after SYNC0 pulses

• Initiated alternatively from the EtherCAT master or slave application side

Distributed Clocks

Sync0 / Sync1

Latch0 / Latch1PDI IRQ

Sync Unit

Latch Unit

DC

Control

System Time

Offset

Delay


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Registers for SyncSignal Generation

Register Address Name Description

0x0140[11:10] PDI Control Enable/Disable DC Units (power saving)

0x0151 Sync/Latch PDI Configuration Configuration of SYNC/LATCH[1:0] pins

0x0980.0 Cyclic Unit Control Assignment of cyclic function to EtherCAT or PDI

0x0981 Activation Activation of cyclic function and SYNC pins

0x0982:0x0983 Pulse Length of SYNC signals Length of SYNC impulse length

0x098E SYNC0 Status Status of SYNC0 signal

0x098F SYNC1Status Status of SYNC1 signal

0x0990:0y0997 SYNC0 Start Time Start Time of cyclic operation

0x0998:0x099F NEXT SYNC1 Pulse Next Sync1 Pulse

0x09A:0x09A3 SYNC0 Cycle Time Cycle Time of SYNC0

0x09A4:0x09A7 SYNC1 Cycle Time Cycle Time of SYNC1


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



SYNC0 Signal Generation modes

SYNC0

Acknowlege

SYNC0

SYNC0

Single shot

Cyclic generation

Cyclic Acknowledge mode

Activation SYNC0 Cycle Time

Acknowlege

SYNC0

Single shot Acknowledge mode

Start Time

Single Shot Acknowledge*

Single Shot

= 0

Cyclic Acknowledge*= 0

Cyclic generation> 0

> 0

SYNC0 Cycle Time (0x09A0:0x09A3)

Pulse Length

of SYNC Signals(0x0982:0x0983)

* Acknowledge by reading SYNC status register (0x098E, 0x098F)


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



SYNC1 Signal Generation modes

SYNC0

SYNC1

SYNC1 Cycle Time

SYNC0 Cycle Time

SYNC0

SYNC1

SYNC1 Cycle Time

SYNC0 Cycle Time

SYNC1 Cycle Time < SYNC0 Cycle Time

SYNC1 Cycle Time = SYNC0 Cycle Time

SYNC0

SYNC1

SYNC1 Cycle Time

SYNC0 Cycle TimeSYNC1 Cycle Time = 2*SYNC0 Cycle Time

SYNC1 Cycle Time

SYNC1 Cycle Time

SYNC0

SYNC1

SYNC1 Cycle Time

SYNC0 Cycle Time

SYNC1 Cycle Time > SYNC0 Cycle Time

and

SYNC1 Cycle Time < 2*SYNC0 Cycle Time

SYNC1 Cycle Time

Start Time


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Latch Functionality

• The Latch Event unit supports time stamping of the system

time with two independent input signals

– LATCH0 and LATCH1 input signals are used(can be the same pins as for SYNC0 and SYNC1, ESC dependents)

– Time Stamping of SyncManager events is possible

• Latch on positive and/or negative edge

• Single or continuous latch configurable

• The Latch Time register (0x09B0:0x09CF) contain the time

stamps

– Acknowledge by reading the Latch Time register.


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Registers for Latch Input Events

Register Address Name Description

0x0140[11:10] PDI Control Enable/Disable DC Units (power saving)

0x0151 Sync/Latch PDI Configuration Configuration of SYNC/LATCH[1:0] pins

0x0980[5:4] Cyclic Unit Control Assignment of cyclic function to EtherCAT or PDI

0x09A8 Latch0 Control Latch unit configuration for Latch0

0x09A9 Latch1 Control Latch unit configuration for Latch1

0x09AE Latch0 Status Latch status of Latch0

0x09AF Latch1 Status Latch status Latch1

0x09B0:0x09B7 Latch0 Time Positive Edge Time stamp positive edge Latch0

0x09B8:0x09BF Latch0 Time Negative Edge Time stamp negative edge Latch0

0x09C0:0x09C7 Latch1 Time Positive Edge Time stamp positive edge Latch1

0x09C8:0x09CF Latch1 Time Negative Edge Time stamp negative edge Latch1

0x09F0:0x09F3 EtherCAT Buffer Change Event Time

Time stamp for ECAT SyncManager buffer change event

0x09F8:0x09FB PDI Buffer Start Event Time Time stamp for PDI SyncManager buffer start event

0x09FC:0x09FF PDI Buffer Change Event Time Time stamp for PDI SyncManager buffer change event


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Local Synchronization Modes in the Slaves

• Free Run

– Slave’s application is not synchronized to EtherCAT

• Synchronous with SM Event

– Slave’s application is synchronized to the SM2 Event

(if cyclic outputs are transmitted) or the SM3 Event (if

only cyclic inputs are transmitted)

• Synchronous with SYNC Event

– Slave’s application is synchronized to the SYNC0 or

SYNC1 Event

• Normal Mode

• Optimized Mode


Free Run

1C32:3 (Shift Time)(Hardware Delay)

1C33:3 (Shift Time)

Local Timer Event

0x1C32.2 / 0x1C33.2 (Cycle Time)

Local Timer Event

Outputs Valid Input Latch

1C33:6 (Min Delay Time)(Calc + Copy Inputs)

1C32:5 / 1C33:5 (Min Cycle Time)

1C32:6 (Min Delay Time)(Copy + Calc Outputs)

this value could be 0 like

described in Normal DC Mode


Synchronous to SM2/3 event


1C33:3 (Shift Time)

SM2/3 Event

0x1C32.2 / 0x1C33.2 (Cycle Time)

SM2/3 Event

Frame


Frame


1C33:6 (Min Delay Time)(Calc + Copy Inputs)1C32:6 (Min Delay Time)

(Copy + Calc Outputs)

this value could be 0 like

described in Normal DC Mode


Normal DC mode

Sync0 Event Sync0 Event


1C33:3 (Shift Time)

Register 0x9A0-0x9A3 (Cycle Time)

Frame


Frame


1C32:6 (Min Delay Time)(Copy + Calc Outputs) = 0



Optimized DC mode

Sync0 Event Sync0 Event


1C33:3 (Shift Time)

SM2/3 Event

Register 0x9A0-0x9A3 (Cycle Time)

SM2/3 Event

Frame


Frame


1C32:6 (Min Delay Time)(Copy + Calc Outputs) != 0



EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Device Description Overview

• Device Description File in XML format

• One file suitable for a set of devices (from one Vendor)

• File contains information about:

– Vendor

• Vendor ID, Name, Logo, …

– Device groups

• Organization units to help configuration tools

– Device

• Device Identity, Name, PDI type

– PDO Mapping

– FMMU / SyncManager

• number and usage

• Schema is defined in “EtherCATInfo.xsd”

• Can be viewed with Browser, Text Editor or XML Editors


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



General Structure

EtherCATInfo.xsd

Vendor

Description

Groups

Devices

Type

Name

Group Type

Profile

Fmmu

Sm

Su

RxPdo

TxPdo

Mailbox

Dc

Modules

ESC

Eeprom

Vendor Spec

….

ID

Name

Comment

Image

Vendor Spec

optional

mantadory


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Attributes Vendor, Groupes, Devices

• Vendor

– vendor ID, vendor name

– Bitmap image and information text

• 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

EtherCATInfo.xsd

Vendor

Description

ID

Name

Comment

Image

Vendor Spec

Groups

Devices

Type

Name

Groupe Type

Profile

Fmmu

Sm

Su

RxPdo

TxPdo

Mailbox

Dc

Modules

ESC

ESC

Eeprom

Vendor Spec

….

• Devices

– Device description shall contain Type, Name and Group

Type

– FMMU, SM, PDO, Mailbox and Eeprom are

recommended


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Attributes Profile

• Profile

– Profile Information

– Object Dictionary

– Same Structure for CoE and SoE Dictionaries

• Separation of Object and Data Type descriptions

– Flat list of Objects

– All Objects derived from a Data Type

– ARRAY, RECORD (CoE) and Variable Data (SoE)

defined as Data Types

– Data Type describes the complete data of an object

exactly as for a “Complete Access” download or upload


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Data Types and Objects

Element „Profile“

Element „Data Type“

Element „Object“

Data Type

„STRING(20)“

Object „Device Name“


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



XML and EEPROM

Config

Tool

XML

EEPROM

0110010001010… (*.bin)

Configuration Tool generates binary file from device

description to update EEPROM on slave


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Configuration Tool

• Configure EtherCAT Slave devices

– Evaluate XML device description

– Evaluate EEPROM information – if online

• Generate network initialization commands

– Information for the EtherCAT driver

– Initialization commands correspond to State Machine

transitions

• Generates cyclic commands

– Information for the EtherCAT driver


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Network Configuration

EtherCAT

Configuration Tool

(Offline)

EtherCAT

Master Driver

(Online)

XML

File

Device Descriptions

(XML)

Configuration

Information (XML)

General Exchange

Format

Configuration

Information (binary)

Vendor specific

Format

E2PROM

Information


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Configuration Exchange Format

• Vendor and Driver independent format

• Master Vendor must not imperatively develop an own

Configuration Tool

• Contains

– initialization commands – per slave device

– cyclic process data commands

– information about the mailboxes


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Master

• Configuration with help of an EtherCAT configuration XML

file

• Send and receive raw Ethernet frames from a network

adapter

• Management of the EtherCAT slaves

– Sending init commands defined in the XML file

• Mailbox Communication

– CANopen over EtherCAT protocol (CoE)

– Servo-Profile over EtherCAT protocol (SoE)

– Ethernet over EtherCAT protocol (EoE)

– Filetransfer over EtherCAT protocol (FoE)

• Software-integrated switch functionality

• Cyclic process data communication


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



What does an EtherCAT Master do?

• Parse XML Hardware configuration file (initialization, state

machine, and process data mapping)

• Initialization of Fieldbus

• Runs State Machine

• Interface to application

• Interface to network driver

• Sends cyclic process data commands

• Sends mailbox commands

• Handles various protocols


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Master Block Diagram

System

Configuration

Tool

EtherCAT Master Driver

Control Task

Standard Ethernet MAC

HDR Process Data

XML Parser

Process Image

(XML)

HW Config

Init Cmds

XML

Device Description

XML

Network Description

Initialization Commands

Process Image

Online functions

EtherCAT Master


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Prerequisites for EtherCAT Master (Real Time)

• 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 µs

• Software

• Realtime kernel

• Configuration tool


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



EtherCAT Master Development (Real Time)

1. XML Parser functionality

2. EtherCAT Master driver

– Interface to configuration tool

– State machine

– Interface to application

– Interface to network card

– NIC Timing Interface

3. Real Time Kernel

4. Hardware Configuration Tool

– 3.rd party configuration tools can be used

as the configuration is provided to

EtherCAT master in a common format

(XML)

necessary

optional


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Master Sample Code Structure

NDIS

TCP/IP

Protocol Driver

NPF (based)

Protocol Driver

EtherCAT

Master Driver (Sample)

XML

FileEtherCAT

Configuration

Tool

Parser Appl.

Process Image

Ethernet Frames

Miniport

Online Functions


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Master Sample Code Overview

• Sample EtherCAT Master Communication Software

(including Source Code)

– Non Real Time

– Realized as Windows Application Program

(MS Windows XP/2000)

– Source Code MS C++


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Standards and References

• Specification of EtherCAT has been done in the EtherCAT

Technology Group (ETG)

• Specifications available at www.EtherCAT.org

– XML File Style sheet

– Datasheets of ESC, ...

– Modular Device Profile

– Reports of ETG TC meetings

• International standardization efforts


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master




•EtherCAT is part of different international

standardization efforts

Type 12:

EtherCAT Specification

Remarks

CDVPart 6: Application Layer protocol

specification

CDVPart 5: Application Layer service definition

CDVPart 4: Data Link Layer protocol specification

CDVPart 3: Data Link Layer service definition

CDVPart 2: Physical Layer service definition and

protocol specification

CDV

PAS

StatusTitleStandard

Part 1: Overview and guidance

Digital data communication for measurement

and control – Fieldbus for use in industrial

control systems

IEC 61158

Real Time Ethernet control automation

technology (ETHERCAT)

IEC/PAS

62407

PASPAS : Public available standard: Public available standard

CDVCDV : Committee draft for vote: Committee draft for vote


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master




Mapping

EtherCAT to

CANopen DS402

and SERCOS

Part 7:

Drive Profiles

CPF12: EtherCAT

Remarks

CDVPart 7-3: Generic interface and use of profiles

for power drive systems – Mapping of profiles

to network technologies


for power drive systems – Profile specifications


for power drive systems – Interface definition

Adjustable speed electrical power drive

systems

IEC 61800

CDV

Ed1.0

Part 2: Additional profiles for ISO/IEC 8802-3

based communication networks in real-time

applications

CDV

Ed2.0

Part 1: Profile sets for continuous and discrete

manufacturing relative to fieldbus use in

industrial control systems

Digital data communication for measurement

and control

IEC 61784

StatusTitleStandard

CPFCPF : : CommunicationCommunication profileprofile


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master




Mapping

EtherCAT to

CANopen DS301

PRF AmdPart 4 Amd 2: Profiles for Modbus TCP,

EtherCAT and ETHERNET Powerlink

CANopenEd 1Industrial automation systems and integration -

- Open systems application integration

framework

ISO 15745

RemarksStatusTitleStandard

PRF PRF AmdAmd: : : Proof of a new International Standard, Amendment: Proof of a new International Standard, Amendment


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



IEC 61158

• Digital data communication for measurement and control –

Fieldbus for use in industrial control systems

• The communication standard

• EtherCAT is named Type 12 in IEC 61158

(no brand names allowed)

• Transformation of the communication protocol to a

common model


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



IEC 61158 – DL/AL services and protocols

DL Services

Part 3 in IEC 61158

• Model and Concepts

• Service description

• Register Description

(DL objects)

DL Protocol

Part 4 in IEC 61158

• Coding

• Medium Access

• State Machines

AL Services

Part 5 in IEC 61158

• Model and Concepts

• Data type definitions

• Application Objects

• Service description

• Communication Management

AL Protocol

Part 6 in IEC 61158

• Syntax definition and Coding

• Application Relationship

Procedures

• State Machines

Users Implementers


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



IEC 61800-7

IEC 61800-7-1 Interface definition

Annex A:Mapping toCiA402

Annex B:Mapping to

CIP

Annex C:Mapping toPROFIdrive

IEC TR 62390Device profile guideline

IEC 61800 Parts 1 to 6Adjustable speed electrical power drive systems

Annex D:Mapping toSERCOS

Abstractmodels

GenericPDSinterface

Mapping tosolutions(profiles)

Driveprofiles

Annex D:Profile

SERCOS

Annex C:Profile

PROFIdriv

e

Annex B:ProfileCIP

Annex A:ProfileCiA402

IEC 61800-7 Generic interface and use of profiles for power drive systems

IEC 61800-7-2 Profile specifications

Mapping toCANopen

Mapping toEtherCAT

Mapping toPROFIBUS

Mapping toPROFINET

Mapping tonetworktechnologies

Mapping toDeviceNet

Mapping toEtherNet/IP

Mapping toSERCOS

I + II

Mapping toSERCOS

III

Mapping toETHERNETPowerlink

Mapping toEtherCAT

Mapping toControlNet

IEC 61800-7-3 Mapping of profiles to network technologies

Annex A Annex B Annex C Annex D

EtherCAT is Part of the drives standard in Annex A and D

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 Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



ESC Overview

• 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 Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Step by Step Implementation

• Step 1:

• Slave Evaluation Kit Workshop

µC

Step 3:

Build Lab wiring between Evaluation

Kit and Standard-Hardware (e.g.)

with 16Bit Microcontroller

Step 4:

Start SW-Project with Slave Sample

Code

Step 2:

Setup of a small EtherCAT System

with Master, I/O and Evaluation

Board.


EtherCAT Basics

Slave Structure

Physical Layer


Data Link Layer

Frame Structure

Addressing

Commands

Memory/Registers

SyncManager

FMMU

Diagnosis

Application Layer

State Machine

Mailbox

Mailbox Interface

EoE Ethernet

CoE CANopen

FoE File Access

SoE Servo Drive


Device Profiles

Modular Devices

Drives

Distributed Clocks

Device Description

Configuration Tool

EtherCAT Master



Step by Step Implementation

• 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

Step 7:

Software-Design with EtherCAT

Slave Sample Code for existing

Fieldbus SW-Architecture

ecatappl

mcihw

ecatslv mailbox

emcy

ecatcoe

coeappl

ecatfoe

foeappl

EtherCAT Slave

Application Software

EtherCAT

Slave

Controller

Slave Sample Code

EtherCAT Communication 070531 - Elmo · ISO/OSI Layer Model • * „empty“means that the layer...

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Transcript of EtherCAT Communication 070531 - Elmo · ISO/OSI Layer Model • * „empty“means that the layer...