EtherCAT Introduction 0905

The Ethernet Fieldbus.
Why Ethernet for Automation?
EtherCAT is: Today at controller level: state-of-the-art

- Faster
Advantages for fieldbuses:
- Synchronization
- Industrial Ethernet
lower costs because the use of commodity technology
- Flexible Ethernet technology is driven by the office sector
- Easier to configure access to internet technology (e.g. webserver)
- Cost effective reduction of interfaces
- Easier to implement
But: Common Ethernet does not achieve fieldbus
- Well proven
- Open
requirements as
- Conformance Low cost, performance, deterministic (real time),
- Safety
- Redundancy
- Versatile
EtherCAT Technology Group, 2009 3

EtherCAT - The Ethernet Fieldbus.
EtherCAT is: EtherCAT is real time down to the I/O level

- Faster
No underlying sub-systems any more
- Synchronization
No delays in gateways
- Flexible In- and outputs, sensors, actuators, drives, displays:
- Easier to configure everything in one system!
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is faster
EtherCAT is: Transmission Rate:

- Faster 2 x 100 Mbit/s (Fast Ethernet, Full-Duplex)
- Synchronization
- Flexible Update Times:
- Easier to configure 256 digital I/O in 11 s
- Cost effective
1000 digital I/O distributed to 100 nodes in 30 s = 0.03 ms
200 analog I/O (16 bit) in 50 s, 20 kHz Sampling Rate
- Well proven
- Open 100 Servo-Axis (each 8 Byte In + Out) in 100 s = 0.1 ms
- Conformance 12000 digital I/O in 350 s
- Safety
- Redundancy
- Versatile

EtherCAT is faster
EtherCAT is: Bandwidth Usage of Ethernet for I/O and Drives:

- Faster Ethernet Frame: 84 Bytes
- Synchronization incl. Preamble + IPG (interpacket gap)
- Flexible Data pay load:
- Easier to configure e.g. 2 Bit..6 Byte
22 Bytes 4 Bytes 12 Bytes
- Cost effective
- Easier to implement Ethernet Header Data: 46 Bytes CRC IPG
- Well proven Node

Request with output data
- Open Master I/O reaction
Response with input data time
- Conformance
- Safety Ethernet Header Data: 46 Bytes CRC IPG
- Redundancy
- Versatile
with 4 Byte input + 4 Byte output per node:

4,75% application data ratio at 0 s reaction time/node
1,9% application data ratio at 10 s reaction time/node

EtherCAT is faster
EtherCAT is: Bandwidth Usage Comparison:

- Faster At 4 Byte user data per node:
- Synchronization
Polling / Timeslicing: ~ 2..5 %
From 2 Bit user data per node:
- Flexible
EtherCAT: ~ 80..97 % (Full Duplex, 2 x 100 MBit/s)
- Easier to configure
- Cost effective
- Easier to implement 100
- Well proven 90
- Open 80
70
- Conformance
60
- Safety
50
- Redundancy
40
- Versatile 30
20
10
0
Polling / EtherCAT
Timeslicing

Functional Principle: Ethernet on the fly
EtherCAT is:
- Faster
- Synchronization
- Flexible
Car
- Easier to configure 27
- Cost effective
- Well proven
- Open
- Conformance
Analogy Fast Train:
- Safety
- Redundancy Train (Ethernet Frame) does not stop
- Versatile 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 (Bytes) even multiple groups per train

EtherCAT is:
- Faster Slave Device Slave Device
- Synchronization
EtherCAT Slave EtherCAT Slave
- Flexible Controller Controller
- Cost effective
- Well proven
- Open
Process data is extracted and inserted on the fly:
- Conformance Process data size per slave almost unlimited
- Safety (1 Bit60 Kbyte, if needed using several frames)
- Redundancy Compilation of process data can change in each cycle, e.g.
- Versatile ultra short cycle time for axis, and longer cycles for I/O
update possible
in addition asynchronous, event triggered communication

EtherCAT is:
- Faster Master
- Synchronization
- Flexible
- Cost effective
HDR 1
HDR 2
HDR 2
Ethernet Header ECAT HDR PLC Data NC Data Data n Ethernet
- Well proven
- Open
- Conformance Minimal protocol overhead via implicit addressing
- Safety
Optimized telegram structure for decentralized I/O
- Redundancy
- Versatile
Communication completely in hardware: maximum
(+ predictable!) performance
No switches needed if only EtherCAT devices in the network
Outstanding diagnostic features
Ethernet-compatibility maintained

Performance: Application Example
EtherCAT is: 40 Axis (each 20 Byte Input- and Output-Data)

- Faster
50 I/O Station with a total of 560 EtherCAT Bus
- Synchronization
Terminals
- Flexible 2000 Digital + 200 Analog I/O, Bus Length 500 m
- Easier to configure Performance EtherCAT: Cycle Time = 276 s
- Cost effective at 44 % Bus Load, Telegram Length = 122 s
- Well proven
- Open
276 s
EtherCAT
- Conformance in spite of this cycle time still 56%
- Safety bandwidth remaining, e.g. for TCP/IP
479 s
SERCOS III
- Redundancy
- Versatile 763 s
Profinet IRT
2347 s
Pow erlink
6355 s
Profinet I/O
0 1000 2000 3000 4000 5000 6000 7000

Slow Control Systems benefit, too
EtherCAT is: Reaction time with legacy fieldbus I/O:

- Faster
- Synchronization
I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task
- Flexible
- Cost effective Tmpd
- Well proven
Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle
- Open
- Conformance
- Safety
TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O
- Redundancy
best case reaction time
- Versatile
worst case reaction time
Input Input Output

(worst case) (best case)
Tmpd: Master Processing Delay

TI/O: Local I/O Update Time
(local Extension Bus + Firmware)

EtherCAT is: System Architecture with EtherCAT:

- Faster
- Synchronization
- Flexible
- Easier to configure no dedicated Master Device any more
- Cost effective Tmpd
- Well proven
Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle
- Open
- Conformance
- Safety
TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O
- Redundancy
on underlying extension bus any more
- Versatile

EtherCAT is: System Architecture with EtherCAT:

- Faster
- Synchronization
- Flexible
- Cost effective
- Well proven
- Open TDMA (NIC)
- Conformance
TDMA = Time for Data Transfer
- Safety
from/to Ethernet Controller via
- Redundancy
TEtherCAT Cycle
Direct Memory Access: neglectible
- Versatile

EtherCAT is: Reaction Time with EtherCAT:

- Faster
- Synchronization
- Flexible
- Cost effective
- Easier to implement best case
worst case
- Well proven
- Open
EtherCAT Input Input Output
- Conformance (worst case) (best case)
Bus Cycle
- Safety
- Redundancy
- Versatile Reaction time reduced significantly with the same controller
performance
no underlying local I/O cycles and extension bus delays any
more
Due to the very simple protocol no dedicated master
systems (e.g. plug-in cards) required
Fieldbus: requires Mapping in Control System
EtherCAT is: Traditional fieldbus system generate physical process

- Faster image
- Synchronization
This has to be mapped to logical process image(s)
- Flexible
- Cost effective
- Easier to implement Control System, e.g. IPC
- Well proven
DPRAM
- Open Node 1
Fieldbus Scanner/Master
- Conformance Node 1
Data n
- Safety
Node 2
logical process images
Node 2
- Redundancy PLC Data
- Versatile
NC Data Node 3
Node 3
Node 4
Node 4
Mapping

Fieldbus: requires Mapping in Control System
EtherCAT is: The same applies to control system with just one process
- Faster image
- Synchronization
Resorting of process data (Mapping) is required, too
- Flexible
- Cost effective
- Easier to implement Control System, e.g. IPC
- Well proven
DPRAM
- Open Node 1
Fieldbus Scanner/Master
- Conformance Node 1
- Safety
Node 2
Logical process image
Node 2
- Redundancy Process-
Data
- Versatile
Node 3
Node 3
Node 4
Node 4
Mapping

EtherCAT: Mapping moved into Slave Devices
EtherCAT is: Master
- Faster
- Synchronization
- Flexible
- Easier to configure logical process images up to 4 GByte
- Cost effective
HDR 1
HDR 2
HDR 2
Ethernet Header ECAT HDR PLC Data NC Data Data n Ethernet
- Well proven Data n
- Open PLC Data
- Conformance
- Safety NC Data
Datagram 1 Datagram 2 Datagram n
- Redundancy
- Versatile
Control System is unburdened, master becomes very

simple
Data is transmitted according to the application
requirements: extremely fast, flexibly and efficiently
Direct Memory Access saves time
EtherCAT is: Fieldbus cards: PC Control with Fieldbus cards

- Faster up to 30% of CPU PC RAM
- Synchronization time for data Scanner card, DP RAM
copying Control task
- Flexible
PCI
- Easier to configure CPU memcopy
bus
- Cost effective
- Well proven
- Open
EtherCAT: PC Control with EtherCAT
- Conformance MAC is PCI Bus PC RAM
- Safety master, data is
CPU
- Redundancy provided by DMA Control task
- Versatile directly to PC RAM: PCI

CPU relieved more MAC
bus
DMA
performance

EtherCAT Propagation Delay Measurement (1)
EtherCAT is: EtherCAT Node measures time difference between

- Faster 3 leaving and returning frame
- Synchronization
- Flexible
- Cost effective
EtherCAT Frame
- Well proven Processing Direction
- Open EtherCAT Frame
Forwarding Direction
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT Propagation Delay Measurement (2)
EtherCAT is: EtherCAT Node measures time difference between

- Faster 3 leaving and returning frame
- Synchronization
- Flexible
IPC
Master
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

Distributed Clocks
EtherCAT is: Precise Synchronization (<< 1 s!) by exact adjustment

- Faster 3 of Distributed Clocks
- Synchronization
- Flexible
M
S
IPC
Master t
- Cost effective
- Well proven S
S
- Open
- Conformance
- Safety S S S S
- Redundancy
- Versatile

External Clock Synchronization: IEEE 1588
EtherCAT is: Switchport with integrated IEEE 1588 Boundary Clock

- Faster 3
- Synchronization IEEE 1588
Grandmaster
- Flexible
M Boundary
S Clock
- Cost effective Master
- Well proven S
S
- Open
- Conformance
- Safety S S S S
- Redundancy
- Versatile

Distributed Clocks
EtherCAT is: Long Term Scope View of two separated devices

- Faster 3 300 Nodes in between, 120m Cable Length
- Synchronization
- Flexible
- Cost effective
- Well proven
Simultaneity: ~15 ns
- Open
- Conformance Jitter: ~ +/-20ns
- Safety
- Redundancy
- Versatile

EtherCAT is Industrial Ethernet!
EtherCAT is: EtherCAT uses Standard Ethernet Frames: IEEE 802.3

- Faster 3 Alternatively via UDP/IP (if IP Routing is needed)
- Synchronization 3
no shortened frames
- Flexible
- Easier to configure Standard Ethernet Frame
- Cost effective
- Easier to implement 0..32
48 Bit 48 Bit 16 Bit 16 Bit 48 -1498 Byte Byte 32 Bit
- Well proven
DA SA EtherType Header DatagramEthernet
1 Datagram
Daten2 Datagram n Pad. CRC
- Open
- Conformance
Embedded in Standard Ethernet EtherCAT Telegram
- Safety Frame, EtherType 0x88A4
- Redundancy
160 Bit 64 Bit 16 Bit 48 -1470 Byte
- Versatile Ethernet Header IP Header UDP H. Header EtherCAT Data Pad. CRC
Or: via UDP/IP

UDP Port 0x88A4
11 Bit 1 Bit 4 Bit
Length Res. Type

EtherCAT is: fully transparent for TCP/IP

- Faster 3 all Internet technologies (HTTP, FTP, Webserver,)
- Synchronization 3 available without restricting the real time capabilites!
- Flexible full tool access to devices at real time operation
- Easier to configure with and without TCP/IP
- Cost effective
- Easier to implement EtherCAT Slave Device
- Well proven
Ethernet Real Time
- Open Standard Application Application
- Conformance TCP/IP
Stack TCP UDP
- Safety
- Redundancy Acyclic
IP
Data
- Versatile
Mailbox Process Data
EtherCAT MAC / DLL
Ethernet PHY Ethernet PHY

EtherCAT is: Any Ethernet Device can be connected to Switchport

- Faster 3 Access to Webserver with Standard Browser
- Synchronization 3
- Flexible Webserver
Virtual Ethernet
- Easier to configure Switch
- Cost effective Functionality
Switchport
Master
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is: Virtual Ethernet Switch routes any Ethernet Frame

- Faster 3 From inside as well as from outside the segment
- Synchronization 3
- Flexible
Virtual Ethernet
Switch
- Cost effective Functionality Switchport
Master
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
Ethernet
Switch

Switchport: Any Ethernet Protocol
EtherCAT is: Interface to any Ethernet Device or Network

- Faster 3 Ethernet Frames are inserted into EtherCAT Protocol:
- Synchronization 3
Ethernet over EtherCAT
- Flexible
EtherCAT Switchport
- Cost effective
- Easier to implement Ethernet MAC PHY
- Well proven
- Open
RX1 RX2TX
RX RX3 RX4
- Conformance C
- Safety Fragmentation
- Redundancy
- Versatile
PHY EtherCAT MAC / DLL PHY
TX2
TX3
TX1 TX1
TX3
TX2

Vertical Integration (1)
EtherCAT is: via Switchport

- Faster 3
- Synchronization 3
- Industrial Ethernet Master
- Flexible
- Cost effective
- Well proven Switchport
- Open
- Conformance
- Safety
+ any Ethernet Protocol can be used
- Redundancy + requires only one Ethernet Port (at IPC/Controller)
- Versatile
+ EtherCAT performance is not limited

EtherCAT is: ...via 2. Ethernet Port

- Faster 3
- Synchronization 3
- Flexible
- Cost effective
2nd Ethernet
- Well proven Port
- Open
- Conformance
- Safety
- Redundancy + EtherCAT performance is not limited
- Versatile
but: requires second Ethernet Port (at IPC/Controller)

EtherCAT is: via Switch

- Faster 3
- Synchronization 3
- Flexible
- Cost effective
Ethernet
- Well proven Switch
- Open
- Conformance
- Safety
- Redundancy + requires only one Ethernet Port (at IPC/Controller)
- Versatile
but: performance reduced by switch delay (and generic
Ethernet traffic)

EtherCAT wiring is more flexible
EtherCAT is: Standard Ethernet Topology: Star

- Faster 3
- Synchronization 3
- Industrial Ethernet 3
- Flexible
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is: Flexible tree structures arbitrarily extendable

- Faster 3 Topology variants like Line, Star, Tree, Daisy Chain
- Synchronization 3 + Drop Lines possible; can be used in any combination!
Up to 65.535 nodes for each EtherCAT segment
- Flexible
Standard Ethernet cabling
Line
- Cost effective
- Well proven
- Open
Master
- Conformance
- Safety
- Redundancy
- Versatile
Drop Line
Star/Tree

EtherCAT is: Ethernet Signal Variants of EtherCAT:

- Faster 3 100BASE-TX (up to 100 m between 2 nodes)
- Synchronization 3 100BASE-FX (longer distances between 2 nodes)
- Flexible
LVDS (for modular devices)
- Easier to configure LVDS*
- Cost effective 100 m
- Well proven
- Open
Master
- Conformance
- Safety
- Redundancy Ethernet on Ethernet on
100BASE-TX 100BASE-FX
- Versatile up to 100 m (fibre optics)
with transformer for longer
coupling Ethernet on LVDS* physical layer: distances
for modular devices
Any number of physical layer changes allowed

*LVDS: Low Voltage Differential Signaling according to ANSI/TIA/EIA-644,
also used in IEEE 802.3ae (10Gigabit Ethernet)
EtherCAT Extra Large System Test
EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
10.056
EtherCAT Nodes

EtherCAT instead of PCI
EtherCAT is: Protection of your investment

- Faster 3 smooth migration path from legacy fieldbus to EtherCAT
- Synchronization 3 seamless integration of existing fieldbus devices, e.g.:
- Industrial Ethernet 3 AS-Interface
- Flexible CAN, CANopen
- Easier to configure CC-Link
- Cost effective ControlNet
- Easier to implement DeviceNet
- Well proven Ethernet/IP
- Open FIPIO
- Conformance Interbus
- Safety IO-Link
- Redundancy Lightbus
- Versatile LONWorks
Modbus Plus, RTU, TCP
MPI
PROFIBUS
PROFINET IO

maximum system expandability with low cost fieldbus gateways
EtherCAT is: Update Times (examples):

- Faster 3 Process image update-time
- Synchronization 3 via PCI (500 Bytes input and output data each): 400 s
Process image update-time
- Flexible
via EtherCAT (1.500 Bytes input and output data): 150 s
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is: No Slots in Control System (IPC or PLC) required any

- Faster 3 more
- Synchronization 3 Nevertheless maximum expandability
- Flexible
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
EtherCAT

EtherCAT is easier to configure
EtherCAT is: Addressing

- Faster 3 No manual address setting required
- Synchronization 3 Addresses can be assigned automatically
- Flexible
Addresses can be kept
3
- Easier to configure no new addressing if nodes are added
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is easier to configure
EtherCAT is: Topology:

- Faster 3 Automatic topology target/actual comparison
- Synchronization 3
- Flexible 3 Diagnosis:
- Easier to configure Diagnosis with exact localization
- Cost effective
- Well proven Network planning:
- Open Performance independent of:
- Conformance Slave implementation
- Safety Topology (no Switches/Hubs)
- Redundancy
- Versatile

EtherCAT is lower costs (1): Engineering
EtherCAT is: Implementation / Tools:

- Faster 3 Standard Network Monitor Tools, e.g. MS Network Monitor
- Synchronization 3 or Wireshark: free of charge
Parser Software: free of charge
- Flexible 3
- Cost effective Less effort for Network planning:
Simplified configuration
- Well proven
Default settings will work, no network tuning
- Open
- Conformance
- Safety Improved Diagnosis:
- Redundancy
Faster error handling leads to less downtime
- Versatile
Faster Setup:
No address setting required

EtherCAT is lower costs (2): Hardware
EtherCAT is: Master:

- Faster 3 no dedicated plug in card (co-processor)
- Synchronization 3 on-board Ethernet Port is fine
- Flexible 3
- Easier to configure 3 Slave:
- Cost effective
low cost Slave Controller
FPGA or ASIC
- Well proven 32 Bit
- Open
for simple devices: no C needed C
- Conformance no powerful C needed

- Safety
- Redundancy
Infrastructure:
- Versatile
no Switches/Hubs required
Standard Ethernet Cabling + Connectors

EtherCAT is easier to implement: Slave
EtherCAT is: Slave Implementation:

- Faster 3 All time critical functions implemented on ASIC or FPGA
- Synchronization 3 ESC handles Real-time Protocol in Hardware
Integrated Communication State Machine
- Flexible 3
- Easier to configure Network Performance independent of
3
- Cost effective 3 Slave-C Performance
- Easier to implement Protocol Stack
- Well proven For usage with or without C (Host CPU)
- Open Integrated DPRAM (18kByte)
- Conformance Integrated Distributed Clock Handling
- Safety
Ultra precise interrupts to C
- Redundancy
- Versatile

EtherCAT Slave Controller Features: ASIC (1)
EtherCAT is: Name ET1100 ET1200 netX5

- Faster 3 Type ASIC ASIC ASIC
- Synchronization 3
- Industrial Ethernet 3 Hardware Supplier
- Flexible 3
Package BGA128 QFN48 BGA201
- Easier to configure 3 0,8mm Pitch 0,5mm Pitch 0,8mm Pitch
- Cost effective 3 Size 10 x 10 mm 7 x 7 mm 13 x 13 mm
- Easier to implement C Interface serial/parallel serial* serial (SPI),
- Well proven (8/16-bit, async)* parallel (8/16/32-bit,
async)
- Open
Digital I/O 32 8-16* 16
- Conformance
DPRAM 8 kByte 1 kByte 6 kByte
- Safety
SyncManager 8 4 8
- Redundancy
FMMUs 8 3 8
- Versatile
Distributed Clocks Yes Yes Yes
No. Of Ports 2-4 (MII/E-bus)* 2-3 (E-bus/max. 2 (MII)
1xMII)*
Specials Routable with - Multi Protocol
standard PCB Support
* configurable

EtherCAT Slave Controller Features: ASIC (2)
EtherCAT is:
Name netX 100 netX 500 netX50
- Faster 3 Type ASIC ASIC ASIC
- Synchronization 3
- Flexible 3
- Easier to configure BGA345 BGA345 PBGA
3 Package
1mm Pitch 1mm Pitch 1mm Pitch
- Cost effective 3
Size 22x22 mm 22x22 mm 19x19 mm
C-Bus C-Bus C-Bus
- Well proven C Interface
(internal, 32-bit) (internal, 32-bit) (internal, 32-bit)
- Open
Digital I/O 16 (GPIO) 16 (GPIO) 32 (GPIO)
- Conformance
256/400 Byte 256/400 Byte
- Safety DPRAM (Mailbox/Process (Mailbox/Process 6 kByte
Data) Data)
- Redundancy
SyncManager 4 4 8
- Versatile
FMMUs 3 3 8
Distributed Clocks Yes Yes Yes
No. Of Ports 2 (100BASE-TX) 2 (100BASE-TX) 2 (100BASE-TX)
Multi Protocol Multi Protocol Multi Protocol
Specials Support, Integrated: Support, Integrated: Support, Integrated:
PHYs, ARM-9 C PHYs, ARM-9 C PHYs, ARM-9 C

EtherCAT Slave Controller Features: FPGA
EtherCAT is:
Name ET1810/ET1811/ET1812 ET1815/ET1816/ET1817
- Faster 3 Type FPGA + IP Core FPGA + IP Core
- Synchronization 3
- Flexible 3 Cyclone I+II+III, Spartan
- Easier to configure 3 Supported Chips Stratix I+II+III+IV+GX+II GX, 3+3E+3A+3AN+3ADSP,
- Cost effective 3 Arria GX Virtex II+II Pro+II Pro X+4+5
- Easier to implement Package FPGA dependent FPGA dependent
- Well proven Size FPGA dependent FPGA dependent
- Open serial/parallel serial/parallel
- Conformance C Interface (8/16-bit, async) (8/16bit, async)
AVALON* OPB*
- Safety
Digital I/O 8-32* 8-32*
- Redundancy
DPRAM 1...60 kByte* 1...60 kByte*
- Versatile
SyncManager 08* 08*
FMMUs 08* 08*
Distributed Clocks Yes* Yes*
No. Of Ports 2 (MII) 2 (MII)
Several IP Core License Several IP Core License

Specials
models available models available
* configurable
EtherCAT is easier to implement: Master
EtherCAT is: Master Implementation:

- Faster 3 e.g. with Master Sample Code (Source)
- Synchronization 3 EtherCAT Configuration Tool
- Flexible
XML Data format of ESI and ENI
3
- Cost effective 3
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is easier to implement: Master
EtherCAT is: Example: Master with just one process image

- Faster 3 typical e.g. for small controllers with one control task
- Synchronization 3 up to 1488 Byte Process data size
- Industrial Ethernet 3 Header for Process Data communication remains constant
- Flexible 3
- Easier to configure 3 Ethernet Header ECAT EtherCAT Telegram Ethernet
- Cost effective 3
WKC
Frame EtherCAT
DA SA Type Data Pad. FCS
HDR HDR
- Easier to implement 3 6 Bit 6 Bit 2 Bit 2 Bit 10 Bit 0.1486 Byte 2 032 4 Byte
- Well proven
- Open
constant header completely sorted Working Padding Bytes and
- Conformance (mapped) process data Counter: CRC generated by
constant Ethernet Controller
- Safety (MAC)
- Redundancy Master can be implemented with minimal effort

- Versatile
No separate communication processor required (e.g. on
plug-in card)
Much simpler that legacy fieldbus systems
Very much simpler than competing Industrial Ethernet
approaches

EtherCAT is well proven
EtherCAT is: In series production since 2003

- Faster 3 Numerous applications
- Synchronization 3
Great product variety of
- Flexible 3
available EtherCAT products
- Cost effective 3
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT Architecture + Device Profiles
EtherCAT is:
- Faster EtherCAT Device
3
- Synchronization 3 File System, HTTP, FTP, DEVICE Application
- Industrial Ethernet 3 Bootloader
The SERCOS* The CANopen Process Data
- Flexible 3 Standard Standard
- Cost effective 3
TCP UDP IDN Object Dictionary
- Well proven IP Service Channel SDO
3 PDO
AT
File Access EN 50325-4 Map-
- Open ping
MDT
IEC 61800-7-204 IEC 61800-7-201
Ethernet IEC 61800-7-304
- Conformance IEC 61800-7-301
- Safety FoE EoE SoE CoE CoE/SoE
- Redundancy Mailbox Process Data

- Versatile EtherCAT Slave Controller
Ethernet Physical Layer
*SERCOS interface is a trademark by SI e.V.

Typical EtherCAT Device Architecture
EtherCAT is:
- Faster 3 EtherCAT Device
- Synchronization 3
- Industrial Ethernet HTTP, FTP, DEVICE Application
3 optional
- Flexible 3 Device Profile
Device Profile
Definitions
Definitions
- Cost effective 3
TCP UDP Parameters
- Easier to implement 3 Cyclic
Synchronous
- Well proven 3 IP Asynchronous Communication
Communication (Implicit
- Open (Explicit Addressing)
- Conformance Ethernet Addressing)
- Safety
EoE CoE/SoE CoE/SoE
- Redundancy
- Versatile
EtherCAT Slave Controller

IEC 61491 EtherCAT Servodrive Architecture
EtherCAT is:
- Faster 3 EtherCAT Device
- Synchronization 3
- Industrial Ethernet HTTP, FTP, Servodrive Application
3 optional IEC 61800-7-
- Flexible 3 204
is the
- Easier to configure 3 SERCOS*
- Cost effective 3 Drive Profile
TCP UDP IDN
- Easier to implement 3 Process Data:
AT / MDT
- Well proven 3 IP Service Channel
- Open
Servodrive Profile IEC 61800-7-204
- Conformance Ethernet Mapping to EtherCAT: IEC 61800-7-304
- Safety
EoE SoE SoE
- Redundancy
- Versatile
EtherCAT Slave Controller

EtherCAT in IEC 61800-7
EtherCAT is:
IEC 61800-7: Generic Interface and use of profiles for power drive systems
- Faster 3
- Synchronization 3 IEC 61800-7-1: Interface Definition
Annex A: Annex B: Annex C: Annex D:
- Flexible 3 Mapping to Mapping to Mapping to Mapping to
- Easier to configure DS402 CIP PROFIdrive SERCOS*
3
- Cost effective 3
- Easier to implement 3 IEC 61800-7-200: Profile Specifications
- Well proven 3
- Open IEC 61800-7-201: IEC 61800-7-202: IEC 61800-7-203: IEC 61800-7-204:
Profile Profile Profile Profile
- Conformance CiA 402 CIP Motion PROFIdrive SERCOS*
- Safety
- Redundancy IEC 61800-7-300: Mapping of Profiles to Network Technologies
- Versatile
IEC 61800-7-301 IEC 61800-7-304
B C
Mapping to Mapping to Mapping to ... ... Mapping to Mapping to Mapping to
CANopen EPL EtherCAT SERCOS I/II SERCOS III EtherCAT

EtherCAT is an open technology
EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible 3 Foundation: November 2003
- Easier to configure 3 Tasks: Support, Advancement and Promotion of
- Cost effective 3
EtherCAT
- Well proven 3
The worlds largest organization dedicated to Industrial
- Open Ethernet
- Conformance more than 940* member companies from
- Safety
45 countries in 6 continents:
- Redundancy
Device Manufacturers
- Versatile
End Users
Technology Providers
Membership is open to everybody
*as of Feb 2009

EtherCAT is: Protocol is disclosed completely:

- Faster 3 EtherCAT is IEC, ISO and SEMI Standard
- Synchronization 3 (IEC 61158, IEC 61784, ISO 15745, SEMI E54.20)
- Flexible 3
- Cost effective 3
- Well proven
Slave Controller from several sources available
3
- Open Slave Controller provides interoperability
- Conformance ETG organizes Interoperabilitly Testing (Plug Fests),
- Safety
Workshops and Seminars
- Redundancy
- Versatile
Conformance Testing + Certificates

EtherCAT is: Master Stacks for various RTOS available*,

- Faster including Open / Shared Source!
3
- Synchronization
eCos
3
Intime
Linux with RT-Preempt
- Flexible 3 MICROWARE OS-9
- Easier to configure 3 On Time RTOS-32
- Cost effective 3 PikeOS
- Easier to implement 3 Proconos OS
- Well proven 3 Real-Time Java
- Open RMOS
- Conformance
RT Kernel
RT-Linux
- Safety
RTXC Quadros
- Redundancy
RTAI Linux
- Versatile QNX
VxWin + CeWin
VxWorks
Windows CE
Windows XP/XPE with CoDeSys SP RTE
Windows XP/XPE with TwinCAT RT-Extension
XENOMAI Linux
*as of May 2009
EtherCAT Technology Group and IEC
EtherCAT is: Management Board of IEC has approved Liaison of

- Faster 3 EtherCAT Technology Group with IEC SC65C WG
- Synchronization 3 11/12/13 + JWG10 (SC65C: Digital Communication)
- Flexible 3
- Cost effective 3
- Well proven
Thus ETG is official IEC Standardization Partner
3
- Open
- Conformance
- Safety
- Redundancy
- Versatile

ETG Team Worldwide
EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible 3
- Cost effective 3
- Well proven 3
- Open
- Conformance
- Safety
- Redundancy ETG Office
- Versatile Japan
ETG Headquarters Tokyo
ETG Office Germany ETG Office
North America Nuremberg ETG Office
China
Austin, TX
Beijing Korea
Seoul

ETG Membership Development
EtherCAT is: As of April 2009: 1000 Members

- Faster 3
- Synchronization 3 1000 1000
- Industrial Ethernet 3 940
- Flexible 3 881 900
820
- Easier to configure 3 800
766
- Cost effective 3 696 700
- Easier to implement 3 634
575 600
- Well proven 3 515
- Open 458 500
404
- Conformance 357 400
321
- Safety 285
240 300
214
- Redundancy 188
169
117136 200
- Versatile 59 89
33
100
Nov-03
May-04
Nov-04
May-05
Nov-05
May-06
Nov-06
May-07
0
Nov-07
May-08
Nov-08
May-09
Members from 45* Countries, 6 Continents
EtherCAT is:
- Faster 3
Australia Austria Belarus Belgium Bosnia and Brazil Canada China
- Synchronization 3 Herzegovina
- Flexible 3
- Easier to configure 3 Croatia Czech Rep Denmark Finland France Germany Greece
- Cost effective 3
- Well proven 3 Hungary India Israel Italy Japan Korea Liechtenstein Lithuania
- Open
- Conformance
- Safety Mexico Netherlands New Zealand Norway Poland Portugal Romania Russia
- Redundancy
- Versatile
Serbia Singapore Slovakia Slovenia South Africa Spain Sweden
Switzerland Taiwan Thailand Turkey Ukraine United Kingdom USA
*as of April 2009

ETG: Active Members
EtherCAT is: Much more important than membership figures: How

- Faster 3 many are active, how many implement the technology?
- Synchronization 3 Dec 2008: More than 690 Implementation Kits sold to
- Industrial Ethernet 3 ETG Members (25% Master, 75% Slaves), plus there are
- Flexible 3 Open + Shared Source masters!
- Easier to configure 3 SPS/IPC/Drives 2008: 60 Vendors with over 180 different
- Cost effective 3 EtherCAT Devices at ETG booth:
25 different drives from
- Well proven 3 16 manufacturers jointly
- Open
operating in one network
- Conformance
15 different functional
- Safety
Masters in one setup,
- Redundancy using 10 different
- Versatile operating systems
Safety devices (master
+ slave devices) from 2
manufacturers operating
in one system
Master to Master and
redundancy live demo
EtherCAT: Large Product Selection
EtherCAT is:
I/O, Controller, HMI, Servo Drives, Variable Speed Drives
- Faster 3
Sensors, Slave + Master Development Kits
- Synchronization 3 Control Panels, Hydraulic Valves
- Industrial Ethernet 3 and Pneumatic Valves,
- Flexible 3
- Cost effective 3
- Well proven 3
- Open
- Conformance
- Safety
- Redundancy
- Versatile

Conformance and Interoperability
EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible 3 Conformance and interoperability are very important
- Easier to configure 3 factors for the success of a communication technology
- Cost effective 3 Conformity to the specification is an obligation to all users of
the EtherCAT technology
- Well proven 3
Therefore the EtherCAT Conformance Test Tool (CTT) is
- Open 3
used
- Conformance
- Safety Test Cases for the CTT are provided by the Working Group
- Redundancy Conformance within the ETG community
- Versatile The EtherCAT Conformance Test proves conformance
officially with issuing a certificate after passing the test at an
offical EtherCAT Test Center (ETC)

Safety over EtherCAT: Features (1)
EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible 3 Safety over EtherCAT (FSoE) defines a safety
- Easier to configure 3 communication layer for the transportation of safety
- Cost effective 3 process data between Safety over EtherCAT devices.
- Well proven
FSoE is an open technology within the EtherCAT
3
- Open 3
Technology Group (ETG).
- Conformance 3 The protocol is developed according to IEC 61508
- Safety It meets the Safety Integrity Level (SIL) 3
- Redundancy
Residual Error Probability R(p) < 10-9
- Versatile
The protocol is approved by an independent Notified
Body (TV)

EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible 3 FSoE Frame is mapped in the cyclic PDOs
- Easier to configure 3 Minimum FSoE Frame-Length: 6 Byte
- Cost effective 3 Maximum FSoE Frame-Length: depending on the number of
safe process data of the Slave Device
- Well proven 3
- Open
Therefore the protocol is suitable for safe I/O as well as for
3
- Conformance
functional safe motion control
3
- Safety Confirmed transfer from the FSoE Master to the FSoE
- Redundancy Slave and vice versa.
- Versatile
Safe Device Parameter can be downloaded from the
Master to the Slave at Boot-Up of a FSoE Connection
Certified products with Safety over EtherCAT are
available since 2005.

EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible 3 The FSoE specification has no restrictions according to:
- Easier to configure 3 Communication layer and interface
- Cost effective 3 The communication layer is not part of the safety measures:
- Easier to implement 3 black channel
- Well proven 3 (assumed unsolved bit error rate: p = 10-2)
- Open 3 Transmission speed
- Conformance 3
- Safety
Length of safe process data
- Redundancy
(lenght of safe process data is arbitrary)
- Versatile Routing via unsafe gateways, fieldbus systems or
backbones is possible

Safety over EtherCAT: Routing
EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible 3 Can be routed via non-safe gateways
- Easier to configure 3 Can be routed via fieldbus systems
- Cost effective 3
One Safety technology for (almost) all bus systems
- Well proven 3
- Open 3
- Conformance 3
- Safety
- Redundancy
- Versatile

Safety over EtherCAT: Software Architecture
EtherCAT is: Black channel approach

- Faster 3 with safety and non-safety data on the same bus
- Synchronization 3
- Industrial Ethernet 3 Device 1 Device 2
- Flexible 3
- Easier to configure 3 Safety Safety
- Cost effective 3 Application Application
- Well proven 3 Standard Standard
Application Application
- Open 3
- Conformance 3 Safety over Safety over Safety
- Safety EtherCAT EtherCAT over
Protocol Protocol EtherCAT
- Redundancy
- Versatile EtherCAT EtherCAT EtherCAT
Communication Interface Communication Interface DLL and AL
EtherCAT Telegram
Safety data container (FSoE Frame)

Safety over EtherCAT: Hardware Architecture
EtherCAT is: One channel communication system

- Faster 3 Model A according to IEC 61784-3 Annex A
- Synchronization 3
- Industrial Ethernet 3 Device 1 Device 2
- Flexible 3
- Easier to configure Controller A Controller B Controller B Controller A
3 Safety Safety Safety Safety
- Cost effective 3 Protocol Protocol Protocol Protocol
Controller A Controller B Controller A Controller B
- Easier to implement 3 Safety Safety Safety Safety
- Well proven Protocol Protocol Protocol Protocol
3
- Open EtherCAT EtherCAT
3
Slave Controller Slave Controller
- Conformance 3
- Safety
PHY PHY PHY PHY
- Redundancy
- Versatile Magnetics Magnetics Magnetics Magnetics
RJ45 RJ45 RJ45 RJ45

Safety over EtherCAT: Frame Structure
EtherCAT is: Ethernet telegram

- Faster 3
- Synchronization Ethernet EtherCAT
3 1. Datagram 2. Datagram FSC
Header Header
- Flexible 3
- Cost effective 3
Safety over EtherCAT frame
- Well proven 3
- Open 3 CMD SafeData CRC_0 SafeData CRC_1 Conn ID
- Conformance 3
- Safety
- Redundancy Safety over EtherCAT frame
- Versatile The FSoE Frame is a data container mapped in the process data
of the devices
A new FSoE Frame is recognized if at least one bit has changed
according to the last frame
For every 2 Byte SafeData a 2 Byte CRC is calculated
Up to n Byte SafeData can be transmitted

Safety over EtherCAT: Safety Measures
EtherCAT is:
Measure Sequence Connection CRC
- Faster Watchdog
3 Error Number ID Calculation
- Synchronization 3 Unintended repetition
- Flexible Loss
3
- Easier to configure 3 Insertion
- Cost effective 3 Incorrect sequence
- Well proven Corruption
3
- Open 3 Unacceptable delay
- Conformance 3 Masquerade
- Safety
- Redundancy Repeating memory errors
in Switches
- Versatile
Incorrect forwarding
between segments

Safety over EtherCAT: Implementation Example
EtherCAT is: Decentralized Safety-Logic

- Faster 3 Standard PLC routes the safety messages
- Synchronization 3
- Industrial Ethernet 3 Standard
PLC Safety Inputs
- Flexible 3
- Cost effective 3
- Well proven 3 Safety Outputs
- Open 3
- Conformance 3
- Safety
- Redundancy
- Versatile
S
S
Safety Drives Safety Logic
S

Safety over EtherCAT: Advantages
EtherCAT is: Fully integrated solution:

- Faster 3 safe and standard communication in one channel
- Synchronization 3
Reduction of fieldbuses and interfaces
3
- Flexible 3 Central configuration, diagnosis and maintenance for
- Easier to configure 3 safe and unsafe I/O in one tool
- Cost effective 3 Safety application makes full use of EtherCAT
advantages:
- Well proven 3
- Open
Short reaction times
3
- Conformance 3 Almost unlimited number of nodes
- Safety Large network extensions
- Redundancy Cable redundancy options
- Versatile
High Flexibility with Hot Connect

EtherCAT: High availability
EtherCAT is: Cabling redundancy

- Faster 3 2nd Ethernet port needed on master side only
- Synchronization 3
Hot Swap of devices
3
- Flexible 3 Hot Connect of network segments
Hot Connect
- Easier to configure 3 Master Redundancy with Hot Swap Group
- Cost effective 3
Master
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile

Without Redundancy: Normal Operation
EtherCAT is:
- Faster 3 EtherCAT Master
- Synchronization 3
- Industrial Ethernet 3 RX Unit TX Unit
- Flexible 3 RX TX
- Cost effective 3 MAC 1
RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile
Slave 1 Slave 2 Slave N
RX TX RX TX RX TX
... ...
TX RX TX RX TX RX

Without Redundancy: Cable Failure
EtherCAT is:
- Synchronization 3
- Flexible 3 RX TX
RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile
Slave 1 Slave 2 Slave N-1 Slave N
RX TX RX TX RX TX RX TX
... ...
TX RX TX RX TX RX TX RX

Without Redundancy: Node Failure
EtherCAT is:
- Synchronization 3
- Flexible 3 RX TX
RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile
Slave 1 Slave 2 Slave N-2 Slave N-1 Slave N
RX TX RX TX RX TX RX TX RX TX
... ...
TX RX TX RX TX RX TX RX TX RX

With Redundancy: Normal Operation
EtherCAT is:
- Synchronization 3
- Industrial Ethernet 3 RX Unit TX Unit Only 2nd Ethernet
- Flexible Port required
3 RX TX no special
- Easier to configure 3 Interface Card
- Cost effective 3 MAC 1 MAC 2
RX TX RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile
Slave 1 Slave 2 Slave N
RX TX RX TX RX TX
... ...
TX RX TX RX TX RX

With Redundancy: Cable Failure
EtherCAT is:
- Synchronization 3
- Flexible 3 RX TX
RX TX RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile
Slave 1 Slave 2 Slave N-1 Slave N
RX TX RX TX RX TX RX TX
... ...
TX RX TX RX TX RX TX RX

With Redundancy: Node Failure
EtherCAT is:
- Synchronization 3
- Flexible 3 RX TX
RX TX RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile
Slave 1 Slave 2 Slave N-2 Slave N-1 Slave N
RX TX RX TX RX TX RX TX RX TX
... ...
TX RX TX RX TX RX TX RX TX RX

EtherCAT: various system architecture
EtherCAT is: Master to Slave

- Faster 3 Slave to Slave
- Synchronization 3 Master to Master
- Flexible M2S
3
- Cost effective Switchport
3
- Well proven 3 Master
- Open 3
M2M
- Conformance 3
- Safety 3 Switch
Gateways
- Redundancy
3
- Versatile
M2S
Master
S2S

EtherCAT and Wireless Communication
EtherCAT is: Wireless Devices can be connected via Switchport

- Faster 3 Wireless segment does not slow down EtherCAT
- Synchronization 3 communication
- Industrial Ethernet 3 Protocol: EtherCAT Automation Protocol
- Flexible 3 Pushed and/or Polled Process Data Exchange
- Cost effective
Wireless Segment transparent for Master Device
3
Master Switchport
- Well proven 3 l
- Open oc o
3 Pr ot
n
- Conformance 3 m atio
to
T Au
- Safety 3 e r CA
- Redundancy Eth
3
- Versatile
e.g. RFID Reader

Why do Companies choose EtherCAT?
EtherCAT is: High Performance

- Faster 3 EtherCAT is the fastest Industrial Ethernet technology
- Synchronization 3
Flexible Topology
3
- Flexible 3
Benefit not only for widely distributed applications
- Easier to configure 3 Ease of Use
- Cost effective 3 Easy configuration and maintenance
- Well proven
Low Cost
3
- Open 3 Inexpensive implementation & infrastructure
- Conformance 3 Functional Safety
- Safety 3 Safety communication integrated
- Redundancy
3
- Versatile
Product Variety
Great variety of available EtherCAT products

EtherCAT Application Fields
EtherCAT is: Fast applications, e.g.:

- Faster 3 packaging machines
- Synchronization 3 high speed presses
- Flexible
injection molding machines
3
- Easier to configure 3 woodworking machines
- Cost effective 3 machine tooling (CNC)
- Easier to implement 3 test beds
- Well proven 3 robotics
- Open 3
- Conformance

3
- Safety 3
- Redundancy
3 Widely distributed applications, e.g.:
- Versatile
materials handling
logistics
data acquisition


EtherCAT Application Fields
EtherCAT is: Due to low cost master and simple wiring as well:
- Faster 3 Small Embedded Controller
- Synchronization 3 Small PLCs
- Flexible
Any PC based Control Application
3
- Easier to configure with or without real time requirements
3
- Cost effective 3
EtherCAT allows one to apply fieldbus technology where
- Well proven 3 cost issues require direct wiring today
- Open 3
- Conformance 3
- Safety 3
- Redundancy
3
- Versatile

EtherCAT - The Ethernet Fieldbus.
EtherCAT is: Please visit

- Faster 3 www.ethercat.org
- Synchronization 3 for more information
- Flexible 3
- Cost effective 3
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
3
- Versatile 3
EtherCAT Technology Group
ETG Headquarters
Ostendstr. 196
90482 Nuremberg, Germany
Phone: +49 911 54056 20
info@ethercat.org

EtherCAT Introduction 0905

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The Ethernet Fieldbus.

Why Ethernet for Automation?

EtherCAT is: Today at controller level: state-of-the-art

EtherCAT Technology Group, 2009 3

EtherCAT is: EtherCAT is real time down to the I/O level

EtherCAT Technology Group, 2009 4

EtherCAT is: Transmission Rate:

EtherCAT Technology Group, 2009 5

EtherCAT is: Bandwidth Usage of Ethernet for I/O and Drives:

- Well proven Node

with 4 Byte input + 4 Byte output per node:

EtherCAT Technology Group, 2009 6

EtherCAT is: Bandwidth Usage Comparison:

EtherCAT Technology Group, 2009 7

EtherCAT Technology Group, 2009 8

EtherCAT Technology Group, 2009 9

EtherCAT Technology Group, 2009 10

EtherCAT is: 40 Axis (each 20 Byte Input- and Output-Data)

0 1000 2000 3000 4000 5000 6000 7000

EtherCAT Technology Group, 2009 11

EtherCAT is: Reaction time with legacy fieldbus I/O:

Input Input Output

Tmpd: Master Processing Delay

EtherCAT Technology Group, 2009 12

EtherCAT is: System Architecture with EtherCAT:

EtherCAT Technology Group, 2009 13

EtherCAT is: System Architecture with EtherCAT:

EtherCAT Technology Group, 2009 14

EtherCAT is: Reaction Time with EtherCAT:

EtherCAT is: Traditional fieldbus system generate physical process

EtherCAT Technology Group, 2009 16

EtherCAT Technology Group, 2009 17

EtherCAT is: Master

- Open PLC Data

Control System is unburdened, master becomes very

EtherCAT is: Fieldbus cards: PC Control with Fieldbus cards

- Versatile directly to PC RAM: PCI

EtherCAT Technology Group, 2009 19

EtherCAT is: EtherCAT Node measures time difference between

EtherCAT Technology Group, 2009 20

EtherCAT is: EtherCAT Node measures time difference between

EtherCAT Technology Group, 2009 21

EtherCAT is: Precise Synchronization (<< 1 s!) by exact adjustment

EtherCAT Technology Group, 2009 22

EtherCAT is: Switchport with integrated IEEE 1588 Boundary Clock

EtherCAT Technology Group, 2009 23

EtherCAT is: Long Term Scope View of two separated devices

EtherCAT Technology Group, 2009 24

EtherCAT is: EtherCAT uses Standard Ethernet Frames: IEEE 802.3

Or: via UDP/IP

EtherCAT Technology Group, 2009 25

EtherCAT is: fully transparent for TCP/IP

Ethernet PHY Ethernet PHY

EtherCAT Technology Group, 2009 26

EtherCAT is: Any Ethernet Device can be connected to Switchport

EtherCAT Technology Group, 2009 27

EtherCAT is: Virtual Ethernet Switch routes any Ethernet Frame

EtherCAT Technology Group, 2009 28

EtherCAT is: Interface to any Ethernet Device or Network

EtherCAT Technology Group, 2009 29

EtherCAT is: via Switchport

EtherCAT Technology Group, 2009 30

EtherCAT is: ...via 2. Ethernet Port

EtherCAT Technology Group, 2009 31