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EtherCAT Basics

Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
EtherCAT Communication
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
Communication Principles
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (1)


Agenda

• EtherCAT Basics
• Slave Structure
• Device Model
• Physical Layer
• Data Link Layer
– Frame Structure
– Addressing, Commands
– Memory, SyncManager, FMMUs
– Diagnosis
• Distributed Clocks
• Application Layer
– State Machine
– Mailbox (Mailbox Protocols)
– Slave Information Interface (EEPROM)
• Device Profiles
– Modular Devices
– Drives
• Device Description
• Tools (Configuration Tool, Monitor, …)
• EtherCAT Master
• Standard & References

03/2011 © EtherCAT Technology Group (2)


EtherCAT: versatile system architecture

EtherCAT Basics
EtherCAT Automation Protocol

Factory Network
Slave Structure
MES
Device Model (ISO/OSI) Factory Level
Physical Layer
Data Link Layer
Frame Structure WiFi
PCS
Addressing
Process
Commands
Memory/Registers
Control Level
SyncManager Main Computer
FMMU HMI
Configuration/ Remote
Diagnosis Diagnosis Access
System or
Distributed Clocks
Application Layer
Cell Level
State Machine
Hand
Mailbox held
Mailbox Interface
Master-Master
EoE Ethernet
CoE CANopen
Fieldbus Network

FoE File Access Control or


SoE Servo Drive Plant-floor Level
ESI: Device Description
SII: Slave Information /IF Master-Slave
Device Profiles Slave-Slave
Modular Devices
Drives Sensor /
Configuration Tool Actuator Level
EtherCAT Master
Standards&Implementation
AGV
Automated Guided Vehicle
EtherCAT Device Protocol processed on the fly
03/2011 © EtherCAT Technology Group (3)
Requirements for factory network communication

EtherCAT Basics • Communication between EtherCAT Master devices


Slave Structure
Device Model (ISO/OSI) (Master-Master communication)
Physical Layer
Data Link Layer
• Communication between EtherCAT Master and visualization
Frame Structure
Addressing
• Access to devices in underlying EtherCAT segments from the
Commands control level
Memory/Registers
SyncManager • Access from configuration tools
FMMU
Diagnosis
– Configuration of the Master-Master communication
Distributed Clocks – Configuration of underlying sub-devices (e.g. Drives,
Application Layer
State Machine Gateways,…)
Mailbox Routing through EtherCAT Master
Mailbox Interface
EoE Ethernet • Standard Ethernet interfaces
CoE CANopen
FoE File Access • No strict requirements regarding cycle time and synchronization
SoE Servo Drive
ESI: Device Description • Cycle time in the range of milliseconds
SII: Slave Information /IF
Device Profiles
• Use of standard infrastructure devices (switches)
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (4)


EtherCAT Automation Protocol (EAP)

EtherCAT Basics • Protocol for Master-Master communication


Slave Structure
Device Model (ISO/OSI) • Process data communication as well as
Physical Layer
Data Link Layer
Mailbox communication
Frame Structure
Addressing
• Same principles used as for EtherCAT Device communication
Commands – PDO Mapping
Memory/Registers
SyncManager – Mailbox protocols
FMMU
Diagnosis – Object dictionary
Distributed Clocks
Application Layer
• Communication via standard Ethernet Network or other
State Machine communication technologies, for example
Mailbox
Mailbox Interface – Additional Ethernet port on Master device
EoE Ethernet
CoE CANopen – Switchport
FoE File Access
SoE Servo Drive
– Wireless connection
ESI: Device Description
• Master Object dictionaries contains information for configuration
SII: Slave Information /IF
Device Profiles tools
Modular Devices
Drives • Telegram structure is part of the IEC 61158-x-12 series
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (5)


Functional Principle: Ethernet “on the Fly“

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU Car
Diagnosis 27
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
Analogy Fast Train:
EoE Ethernet
CoE CANopen
• “Train“ (Ethernet Frame) does not stop
FoE File Access
SoE Servo Drive
• Even when watching “train“ through narrow window one
ESI: Device Description sees the entire train
SII: Slave Information /IF
Device Profiles • “Car“ (Sub-Telegram) has variable length
Modular Devices
Drives • One can “extract“ or “insert“ single “persons“ (Bits) or
Configuration Tool
EtherCAT Master entire “groups“ – even multiple groups per train
Standards&Implementation

03/2011 © EtherCAT Technology Group (6)


Functional Principle: Ethernet “on the Fly“

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI) Slave Device Slave Device
Physical Layer
Data Link Layer
Frame Structure
Addressing EtherCAT Slave EtherCAT Slave
Commands Controller Controller
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer • Process data is extracted and inserted on the fly
State Machine
Mailbox • Process data size per slave almost unlimited
Mailbox Interface
EoE Ethernet (1 Bit…60 Kbyte, if needed using several frames)
CoE CANopen
FoE File Access • Compilation of process data can change in each cycle,
SoE Servo Drive
ESI: Device Description
e.g. ultra short cycle time for axis, and longer cycles for I/O
SII: Slave Information /IF update possible
Device Profiles
Modular Devices • In addition asynchronous, event triggered communication
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (7)


Topology

EtherCAT Basics • Flexible Topology


Slave Structure
Device Model (ISO/OSI) – Line
Physical Layer
Data Link Layer
– Daisy chain
Frame Structure – Daisy chain with branches
Addressing
Commands – Tree Structure
Memory/Registers
SyncManager
– Star
FMMU – Cable Redundancy
Diagnosis
Distributed Clocks • Any number of physical layer changes possible
Application Layer
State Machine
• Standard Ethernet 100m cable distance
Mailbox between 2 devices
Mailbox Interface
EoE Ethernet
• Fiber Optics for larger distances
CoE CANopen • Up to 65,535 devices within one EtherCAT network
FoE File Access
SoE Servo Drive
possible
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (8)


Topology – Line topology

EtherCAT Basics
Slave Structure
• Arbitrary number of devices in a line
Device Model (ISO/OSI)
Physical Layer
• Up to 65,535 devices
Data Link Layer
Frame Structure
Addressing IPC
Commands
Memory/Registers
SyncManager
FMMU
..
.. DVI
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (9)


Topology – Daisy Chain

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing IPC
Commands
Memory/Registers
SyncManager
FMMU
..
.. DVI
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (10)


Topology – Daisy Chain with drop lines

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing IPC
Commands
Memory/Registers
SyncManager
FMMU
..
.. DVI
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (11)


Topology – Tree structure

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing IPC
Commands
Memory/Registers
SyncManager
FMMU
..
.. DVI
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (12)


Topology – Star topology with real time

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks IPC
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet ..
.. DVI

CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (13)


Cable Redundancy

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer IPC
Data Link Layer
Frame Structure
Addressing
Commands
..
Memory/Registers .. DVI

SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
• Only a second Ethernet Port is needed on the master –
Drives possible with all EtherCAT Slave devices
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (14)


Without Redundancy: Normal Operation

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI) EtherCAT Master
Physical Layer
Data Link Layer
Frame Structure RX Unit TX Unit
Addressing
Commands RX TX
Memory/Registers
SyncManager
FMMU MAC 1
Diagnosis
Distributed Clocks RX TX
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
☺ ☺ ☺
SII: Slave Information /IF Slave 1 Slave 2 Slave N
Device Profiles
Modular Devices RX TX RX TX RX TX
Drives ... ...
Configuration Tool
EtherCAT Master TX RX TX RX TX RX
Standards&Implementation

03/2011 © EtherCAT Technology Group (15)


Without Redundancy: Cable Failure

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI) EtherCAT Master
Physical Layer
Data Link Layer
Frame Structure RX Unit TX Unit
Addressing
Commands RX TX
Memory/Registers
SyncManager
FMMU MAC 1
Diagnosis
Distributed Clocks RX TX
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
☺ ☺
SII: Slave Information /IF Slave 1 Slave 2 Slave N-1 Slave N
Device Profiles
Modular Devices RX TX RX TX RX TX RX TX
Drives ... ...
Configuration Tool
EtherCAT Master TX RX TX RX TX RX TX RX
Standards&Implementation

03/2011 © EtherCAT Technology Group (16)


Without Redundancy: Node or Cable Failure

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI) EtherCAT Master
Physical Layer
Data Link Layer
Frame Structure RX Unit TX Unit
Addressing
Commands RX TX
Memory/Registers
SyncManager
FMMU MAC 1
Diagnosis
Distributed Clocks RX TX
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
☺ ☺
SII: Slave Information /IF Slave 1 Slave 2 Slave N-2 Slave N-1 Slave N
Device Profiles
Modular Devices RX TX RX TX RX TX RX TX RX TX
Drives ... ...
Configuration Tool
EtherCAT Master TX RX TX RX TX RX TX RX TX RX
Standards&Implementation

03/2011 © EtherCAT Technology Group (17)


With Redundancy: Normal Operation

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI) Only 2nd
EtherCAT Master
Physical Layer Ethernet
Data Link Layer
Port required –
Frame Structure RX Unit TX Unit
Addressing no special
Commands RX TX Interface Card
Memory/Registers
SyncManager
FMMU MAC 1 MAC 2
Diagnosis
Distributed Clocks RX TX RX TX
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
☺ ☺ ☺
SII: Slave Information /IF Slave 1 Slave 2 Slave N
Device Profiles
Modular Devices RX TX RX TX RX TX
Drives ...
Configuration Tool
...
EtherCAT Master TX RX TX RX TX RX
Standards&Implementation

03/2011 © EtherCAT Technology Group (18)


With Redundancy: Normal Operation

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI) EtherCAT Master
Physical Layer
Data Link Layer
Frame Structure RX Unit TX Unit
Addressing
Commands RX TX
Memory/Registers
SyncManager
FMMU MAC 1 MAC 2
Diagnosis
Distributed Clocks RX TX RX TX
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
☺ ☺ ☺ ☺
SII: Slave Information /IF Slave 1 Slave 2 Slave N-1 Slave N
Device Profiles
Modular Devices RX TX RX TX RX TX RX TX
Drives ... ...
Configuration Tool
EtherCAT Master TX RX TX RX TX RX TX RX
Standards&Implementation

03/2011 © EtherCAT Technology Group (19)


With Redundancy: Node or Cable Failure

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI) EtherCAT Master
Physical Layer
Data Link Layer
Frame Structure RX Unit TX Unit
Addressing
Commands RX TX
Memory/Registers
SyncManager
FMMU MAC 1 MAC 2
Diagnosis
Distributed Clocks RX TX RX TX
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
☺ ☺ ☺ ☺
SII: Slave Information /IF Slave 1 Slave 2 Slave N-2 Slave N-1 Slave N
Device Profiles
Modular Devices RX TX RX TX RX TX RX TX RX TX
Drives ... ...
Configuration Tool
EtherCAT Master TX RX TX RX TX RX TX RX TX RX
Standards&Implementation

03/2011 © EtherCAT Technology Group (20)


Frame Processing within one node

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Master EtherCAT Segment (Slaves)
Physical Layer
Data Link Layer IPC
Frame Structure
Addressing
Commands
Memory/Registers
..
..
SyncManager DVI

FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox from
vom Master
Master

Mailbox Interface to Master


EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (21)


EtherCAT Slave Structure

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (22)


EtherCAT Slave Evaluation Kit EL98xx (by Beckhoff)

EtherCAT Basics
Slave Structure EtherCAT Programmer for PIC Program &
Device Model (ISO/OSI) Slave Controller Board FPGA Debug Interface Power
Physical Layer
Data Link Layer
Supply
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
PDI
Distributed Clocks
Application Layer
Selector
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
Distributed Clocks
CoE CANopen Config Area
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool 8/16 bit parallel 32 bit
EtherCAT Master
µC interface Digital I/O PIC over SPI SPI
Standards&Implementation

03/2011 © EtherCAT Technology Group (23)


EtherCAT Slave Controller Board

EtherCAT Basics
EEPROM EtherCAT
Slave Structure
Device Model (ISO/OSI) Slave Controller
Physical Layer (ASIC or FPGA)
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
Status LED
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF PHY
Device Profiles
Modular Devices
Drives
Configuration Tool RJ45 Magnetics
EtherCAT Master
Standards&Implementation * Post stamp design, not cost and space optimized

03/2011 © EtherCAT Technology Group (24)


ISO/OSI Layer Model

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI) OSI
Physical Layer Layers
Data Link Layer
Frame Structure
Addressing
7 Application Layer (AL) IEC 61158-5/-6 Type 12
Commands
Memory/Registers
6
SyncManager
FMMU
5
Diagnosis empty*
Distributed Clocks
4
Application Layer
State Machine
3
Mailbox
Mailbox Interface
2 Data Link Layer (DLL) IEC 61158-3/-4 Type 12
EoE Ethernet
CoE CANopen
1 Physical Layer (PhL) IEC 61158-2 Type 12
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation
* „empty“ means that the layer behavior exists, but is not shown explicitly

03/2011 © EtherCAT Technology Group (25)


Application
Appli- HTTP, Application
….
cation FTP, .. e.g. CiA402 Drive Profile

Object Dictionary Application


RD / WR File
TCP, UDP PDO Mapping Layer
... Access
IP SDO PDO (AL)
VoE FoE EoE CoE CoE
Mailbox DLL
Process Data Interface (µC, SSI, I/O )
SII
EEPROM Registers Mailbox Process Data

0x0000 0x1000
ESC Address Space (DPRAM)
SyncMan0 MbxOut SyncMan1 MbxIn SyncMan2 SyncMan3
Data
FMMU n FMMU n
FMMU Link
EtherCAT Slave Controller (ESC) FMMU
FMMU
Layer
EtherCAT Processing Unit (DL)
and Auto-Forwarder with Loop Back

PHY MII / EBUS MII / EBUS MII / EBUS MII / EBUS


Management Port 0 Port 1 Port 2 Port 3

Physical
Mag
Mag

RJ45
RJ45

PHY PHY LVDS Layer

Con
(PL)
WKC

WKC
HDR

HDR

FCS More Datagrams.. Mailbox Data FPWR Process Data LRW ECAT HDR Ethernet HDR
EtherCAT Physical Layer

EtherCAT Basics
Slave Structure
• Ethernet Signal Variants of EtherCAT:
Device Model (ISO/OSI) – 100BASE-TX (up to 100 m between 2 nodes)
Physical Layer
Data Link Layer – 100BASE-FX (up to 2 km between 2 nodes)
Frame Structure
Addressing – LVDS (for modular devices)
Commands
Memory/Registers LVDS*
SyncManager 100 m
FMMU
Diagnosis
Distributed Clocks
Application Layer 2 km
State Machine
Mailbox Master
Mailbox Interface
EoE Ethernet
CoE CANopen Ethernet on Ethernet on
FoE File Access 100BASE-TX 100BASE-FX
SoE Servo Drive up to 100 m (fibre optics)
ESI: Device Description with transformer up to 2 km
SII: Slave Information /IF coupling Ethernet on LVDS physical layer:
Device Profiles
for modular devices
Modular Devices
Drives
Configuration Tool • Any number of physical layer changes allowed
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (27)


Physical Layer

EtherCAT Basics • 100 BASE-TX


Slave Structure
Device Model (ISO/OSI) – Most popular physical layer for Fast Ethernet
Physical Layer – Shielded twisted pair (STP) with 2 pairs of wires
Data Link Layer
Frame Structure
– Cable categories CAT5, 6, 7 can be used
Addressing – RJ45 connector standard, M12 connector for IP67
Commands
Memory/Registers
– PHY Support for auto negotiation and auto crossover recommended
SyncManager
FMMU
Diagnosis • 100 BASE-FX
Distributed Clocks
– All media options possible
Application Layer
State Machine – Simple solution for TX-to-FX converter
Mailbox
Mailbox Interface
EoE Ethernet • E-BUS
CoE CANopen
FoE File Access – Interface for low cost backplane applications
SoE Servo Drive – Widely used LVDS (Low Voltage Differential Signaling) adopted
ESI: Device Description
SII: Slave Information /IF
– Use Manchester Bit Coding
Device Profiles – LVDS: Low Voltage Differential Signaling according to
Modular Devices ANSI/TIA/EIA-644, also used in IEEE 802.3ae (10Gigabit Ethernet)
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (28)


Frame Processing
Auto Forwarder and Loop Back

EtherCAT Basics
Slave Structure
Port 3
Device Model (ISO/OSI)
Physical Layer
Auto-
Data Link Layer Forwarder
Frame Structure
Addressing port 3 open

Commands
Memory/Registers EtherCAT
SyncManager Processing Unit port 3 closed

FMMU
Loopback function
Diagnosis
Distributed Clocks
Application Layer
State Machine Port 0 ET1100 Port 1
Mailbox 1
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access Loopback function
port 2 closed
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF port 2 open
Device Profiles
Modular Devices Auto-
Drives Forwarder
Configuration Tool
EtherCAT Master Port 2
Standards&Implementation

03/2011 © EtherCAT Technology Group (29)


Frame Processing Order on the System

EtherCAT Basics
Slave Structure
EtherCAT Segment
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands Master
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
cable Route EtherCAT Frame travels
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (30)


Application
Appli- HTTP, Application
….
cation FTP, .. e.g. CiA402 Drive Profile

Object Dictionary Application


RD / WR File
TCP, UDP PDO Mapping Layer
... Access
IP SDO PDO (AL)
VoE FoE EoE CoE CoE
Mailbox DLL
Process Data Interface (µC, SSI, I/O )
SII
EEPROM Registers Mailbox Process Data

0x0000 0x1000
ESC Address Space (DPRAM)
SyncMan0 MbxOut SyncMan1 MbxIn SyncMan2 SyncMan3
Data
FMMU n FMMU n
FMMU Link
EtherCAT Slave Controller (ESC) FMMU
FMMU
Layer
EtherCAT Processing Unit (DL)
and Auto-Forwarder with Loop Back

PHY MII / EBUS MII / EBUS MII / EBUS MII / EBUS


Management Port 0 Port 3 Port 2 Port 1

Physical
Mag
Mag

RJ45
RJ45

PHY PHY LVDS Layer

Con
(PL)
WKC

WKC
HDR

HDR

FCS More Datagrams.. Mailbox Data FPWR Process Data LRW ECAT HDR Ethernet HDR
Purpose of Data Link Layer

EtherCAT Basics
Slave Structure
• Data Link Layer links Physical and Application Layer
Device Model (ISO/OSI)
Physical Layer
• Data Link Layer takes care of the underlying
Data Link Layer communication infrastructure
Frame Structure
Addressing – Link Control
Commands
Memory/Registers – Access to Transceivers (PHY)
SyncManager
FMMU
– Addressing
Diagnosis
Distributed Clocks
– Slave Controller configuration
Application Layer – EEPROM access
State Machine
Mailbox – SyncManager configuration and management
Mailbox Interface
EoE Ethernet – FMMU configuration and management
CoE CANopen
FoE File Access – Process Data Interface configuration
SoE Servo Drive
ESI: Device Description
– Distributed Clock
SII: Slave Information /IF – Set Up AL State Machine interactions
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (32)


Data Link Layer – Overview

EtherCAT Basics • Standard IEEE 802.3 Ethernet Frame


Slave Structure
Device Model (ISO/OSI) – No special requirements for the master
Physical Layer
Data Link Layer
– Use of standard Ethernet infrastructure
Frame Structure • IEEE Registered EtherType: 88A4h
Addressing
Commands – Optimized frame overhead
Memory/Registers
SyncManager
– IP stack not required
FMMU – Simple master implementation
Diagnosis
Distributed Clocks • Additionally over UDP
Application Layer (IANA registered Port 88A4h)
State Machine
Mailbox – EtherCAT communication over the Internet possible
Mailbox Interface
EoE Ethernet
– Using of standard sockets
CoE CANopen • Frame processing at Slave side
FoE File Access
SoE Servo Drive – EtherCAT Slave Controller processes frame in hardware
ESI: Device Description
SII: Slave Information /IF
• Communication Performance independent from processor power
Device Profiles – no time critical reaction at slave side in software
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (33)


Ethernet / EtherCAT Frame Structure

EtherCAT Basics Ethernet Frame: max. 1514 Byte


Slave Structure
Device Model (ISO/OSI)
Physical Layer Ethernet Header Ethernet Data FCS
Data Link Layer
Frame Structure
Addressing 6 Byte 6 Byte 2 Byte 4 Byte
Commands
Memory/Registers
Destination Source EtherType EtherCAT Data FCS
SyncManager EtherType 88A4h
FMMU
Diagnosis 2 Byte 48 -1498 Byte
Distributed Clocks
1 Destination Source EtherType Header Datagrams FCS
Application Layer
State Machine
Mailbox
Mailbox Interface 160 Bit 64 Bit 2 Byte 48 -1470 Byte
EoE Ethernet
2 Dest Src Type IP Header UDP H. Header Datagrams FCS
CoE CANopen
EtherType 0800h UDP Destination Port 88A4h
FoE File Access
SoE Servo Drive 11 Bit 1 Bit 4 Bit
ESI: Device Description
SII: Slave Information /IF 1 EtherCAT Communication Length Res. Type
Device Profiles
Modular Devices 2 EtherCAT Communication over Internet
Drives Type of following data
Configuration Tool Reserved
EtherCAT Master Length of following EtherCAT datagrams
Standards&Implementation (not checked by slave)

03/2011 © EtherCAT Technology Group (34)


EtherCAT Frame Header

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer 11 Bit 1 Bit 4 Bit
Data Link Layer Length
0 11Res. 12 Type 15
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager Type Meaning
FMMU -----------------------------------------------------------------------
Diagnosis
Distributed Clocks 0: Reserved
Application Layer 1: EtherCAT Device Communication
State Machine
Mailbox the only type that is evaluated by the ESC!
Mailbox Interface 2,3: Reserved
EoE Ethernet
CoE CANopen 4: EAP Process Data Communication
FoE File Access 5: EAP Mailbox Communication
SoE Servo Drive
ESI: Device Description 6-15: Reserved for future use
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (35)


EtherCAT Datagram Header Address

EtherCAT Basics
Slave Structure * add 1-32 padding bytes if Ethernet frame is less than 64
Device Model (ISO/OSI)
Physical Layer
Ethernet H. Ethernet Data FCS
Data Link Layer
Frame Structure
Addressing 14 Byte 2 Byte 44*-1498 Byte 4 Byte
Commands
Ethernet H. Len 0 1 EtherCAT Datagrams FCS
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks 1st EtherCAT Datagram 2nd…. …. nth EtherCAT Datagram
Application Layer
State Machine
Mailbox
Mailbox Interface 10 Byte max. 1486 Byte 2 Byte
EoE Ethernet
CoE CANopen Datag. Header Data WKC
FoE File Access WKC = Working Counter
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF 8 Bit 8 Bit 32 Bit 11 Bit 2 1 1 1 16 Bit
Device Profiles
Modular Devices
Cmd Idx Address Len R C R M IRQ
Drives
Configuration Tool
EtherCAT Master Circulating Datagram? More EtherCAT Datagrams?
Standards&Implementation

03/2011 © EtherCAT Technology Group (36)


EtherCAT Addressing Overview

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
Device Addressing Logical Addressing
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Position Addressing Node Addressing
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen Address by Assigned Node Process Data
FoE File Access
SoE Servo Drive
physical Position Address Address
ESI: Device Description
SII: Slave Information /IF
Device Profiles EtherCAT Datagram Header Address
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (37)


Address Field

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer 8 Bit 8 Bit 32 Bit 11 Bit 2 1 1 1 16 Bit
Data Link Layer
Cmd Idx Address Len R C R M IRQ
Frame Structure
Addressing
16 Bit 16 Bit
Commands
Memory/Registers APxx Position Offset Auto Increment Addressing
SyncManager (Position addressing)
FMMU
Diagnosis
FPxx Address Offset Fixed Physical Addressing
Distributed Clocks (Node addressing)
Application Layer Lxx Logical Address Logical Addressing
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
• 32 Bit address space
CoE CANopen
FoE File Access - used for 16 bit device addressing (position or fixed)
SoE Servo Drive (65,535 devices possible)
ESI: Device Description
SII: Slave Information /IF and 16 bit for addressing local memory space of device
Device Profiles (max. 64kByte)
Modular Devices
Drives
Configuration Tool
or
EtherCAT Master
Standards&Implementation - 32 bit logical addressing
03/2011 © EtherCAT Technology Group (38)
Auto Increment Addressing 16 Bit 16 Bit
Position Offset

EtherCAT Basics
Slave Structure
• Negative Auto Increment Address for every slave
Device Model (ISO/OSI) depending on position (16 bit)
Physical Layer
Data Link Layer
Frame Structure
• Slave which reads address == 0x0000 is addressed
Addressing
Commands • Every slave increments address by 1
Memory/Registers
SyncManager
FMMU
• Offset addresses local memory space of device
Diagnosis
Distributed Clocks • Usually used during scan of hardware configuration
Application Layer

0xFFFB
0xFFFD

0xFFFC
0xFFFE
0xFFFF
0x0000
State Machine
Mailbox
Mailbox Interface
EoE Ethernet

0xFFFA
IPC

0xFFF9
0xFFF8
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles ..
.. DVI

Modular Devices 1 2 3 4
Drives 5 6
Configuration Tool
EtherCAT Master
Standards&Implementation 7 8 9
03/2011 © EtherCAT Technology Group (39)
Fixed Addressing 16 Bit 16 Bit
Address Offset

EtherCAT Basics
Slave Structure
• Every Slave has a fixed address (16 bit)
Device Model (ISO/OSI)
Physical Layer • Usually assigned during hardware configuration scan
Data Link Layer
Frame Structure
Addressing
• Independent from slave position
Commands
Memory/Registers • Fixed address lost after power loss
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine

1005

1006
1001

1003
1004
1002
Mailbox
Mailbox Interface
EoE Ethernet IPC
CoE CANopen

1008
1009
1007
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
..
.. DVI
1 2 3 4
Modular Devices
Drives
5 6
Configuration Tool
EtherCAT Master 5
7 6
8 7
9
Standards&Implementation

03/2011 © EtherCAT Technology Group (40)


Logical Addressing 32 Bit
Logical Address

EtherCAT Basics
Slave Structure
• Slave reads from/ writes its data into the 4 GByte sized
Device Model (ISO/OSI) Ethernet frame (fragmented)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands IPC

Memory/Registers
SyncManager
FMMU
DVI
..
..

Diagnosis
232 Telegrammstruktur
Logical process image up to 4 GByte

Distributed Clocks
Application Layer Ethernet HDR HDR 1 PLC Data HDR 2 NC Data HDR n Data n CRC
State Machine
Mailbox
Mailbox Interface
Data n
EoE Ethernet
CoE CANopen
PLC Data
FoE File Access
SoE Servo Drive NC Data
ESI: Device Description Sub- Sub- Sub-
SII: Slave Information /IF Telegramm 1 Telegramm 2 Telegramm n
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation 0
03/2011 © EtherCAT Technology Group (41)
EtherCAT Commands

EtherCAT Basics
Slave Structure
• Different commands to optimize reading and writing for all
Device Model (ISO/OSI) access methods within a Fieldbus communication system
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands Cmd Idx Address Offset Len R C R M IRQ
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
Cmd Type Access Address Offset Comment
State Machine NOP No Operation
Mailbox
Mailbox Interface Auto R, W, RW, Position Local Memory Position value 0
EoE Ethernet Increment RMW (increments) Address (at entry) addressed
CoE CANopen
FoE File Access Fixed R, W, RW, Address Local Memory Match address value to
SoE Servo Drive Address RMW (configured) Address local address register
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Broadcast R, W, RW (increments) Local Memory
Modular Devices Address
Drives
Logical R, W, RW 32 Bit logical address
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (42)


EtherCAT Commands

EtherCAT Basics
Slave Structure
• Broadcast Read
Device Model (ISO/OSI) – Individual Bits of a Byte will be added with a bitwise OR
Physical Layer
Data Link Layer operation between incoming data and local data
Frame Structure
Addressing
Commands
Memory/Registers
• Read Write Actions
SyncManager
– Exchange of incoming data and local data
FMMU
Diagnosis (exception: Broadcast – see broadcast read)
Distributed Clocks
Application Layer
State Machine
Mailbox • Read Multiple Write Actions (RMW)
Mailbox Interface
EoE Ethernet
– Addressed Station will read the others will write
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (43)


EtherCAT Datagram Header Address

EtherCAT Basics
Slave Structure * add 1-32 padding bytes if Ethernet frame is less than 64
Device Model (ISO/OSI)
Physical Layer
Ethernet H. Ethernet Data FCS
Data Link Layer
Frame Structure
Addressing 14 Byte 2 Byte 44*-1498 Byte 4 Byte
Commands
Ethernet H. Len 0 1 EtherCAT Datagrams FCS
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks 1st EtherCAT Datagram 2nd…. …. nth EtherCAT Datagram
Application Layer
State Machine
Mailbox
Mailbox Interface 10 Byte max. 1486 Byte 2 Byte
EoE Ethernet
CoE CANopen Datag. Header Data WKC
FoE File Access WKC = Working Counter
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF 8 Bit 8 Bit 32 Bit 11 Bit 2 1 1 1 16 Bit
Device Profiles
Modular Devices
Cmd Idx Address Len R C R M IRQ
Drives
Configuration Tool
EtherCAT Master Circulating Datagram? More EtherCAT Datagrams?
Standards&Implementation

03/2011 © EtherCAT Technology Group (44)


Working Counter Details

EtherCAT Basics
Slave Structure
• EtherCAT Datagram ends with a 16 Bit Working Counter
Device Model (ISO/OSI)
Physical Layer
• Working Counter counts the number of interactions of
Data Link Layer devices addressed by an EtherCAT Datagram
Frame Structure
Addressing • EtherCAT Slave Controller increments the Working
Commands
Memory/Registers Counter in hardware – if the controller is addressed and
SyncManager
FMMU
the addressed memory is accessible (Sync Manager)
Diagnosis
Distributed Clocks
• Each Datagram should have an expected Working
Application Layer counter value – calculated by the configuration tool
State Machine
Mailbox • The Master checks the valid processing of EtherCAT
Mailbox Interface
EoE Ethernet Datagrams by comparing the Working Counter with the
CoE CANopen
FoE File Access
expected value
SoE Servo Drive
ESI: Device Description
• Special case: RW addressing methods will increment
SII: Slave Information /IF WKC by 2 for write access and by 1 for read access
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (45)


Working Counter Example

EtherCAT Basics
Slave Structure
• WKC valid: data of this datagram was written to and
Device Model (ISO/OSI) read from all addressed devices
Physical Layer
Data Link Layer • WKC invalid: memory of one or more devices was not
Frame Structure
Addressing accessible
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer WC=0 WC=1 WC=2 WC=4 WC=7
node 1 node 2 node 2 node 3
State Machine PC DI = read DI=read DO=write DI/DO=
Mailbox WC+1=1 WC+1=2 WC+2=4 read+write
LRW-
Mailbox Interface WC+3=7
Command
EoE Ethernet
CoE CANopen 2xread+
1xwrite+ WC=7 WC=7 WC=7 WC=7
FoE File Access
1+read/ write
SoE Servo Drive =7
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (46)


Working Counter Example

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands WC+1
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
WC+1
Application Layer
State Machine
Mailbox
Mailbox Interface WC+3
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
WC+1
Device Profiles
Modular Devices
Drives
WC+1
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (47)


Local Address Space of ESC

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
0x0000
Data Link Layer
Frame Structure
Registers
Addressing 0x0100 DL Control
Commands 0x0110 DL Status 4 kByte
Memory/Registers 0x0120 AL Control
SyncManager
0x0130 AL Status
FMMU
Diagnosis
0x0FFF ……
Distributed Clocks 0x1000
Application Layer
State Machine
User memory
Mailbox
Mailbox Interface Mailbox Out
EoE Ethernet
Mailbox In
CoE CANopen
FoE File Access Process Data Out
1..60 kByte
SoE Servo Drive
ESI: Device Description Process Data In
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
0xFFFF ESC
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (48)


Local Address Space of ESC

EtherCAT Basics
Slave Structure
• 64 kByte address space
Device Model (ISO/OSI)
Physical Layer
• Divided into registers and dual ported RAM (DPRAM)
Data Link Layer
Frame Structure
• First 4 kByte are reserved for registers
Addressing
Commands
• DPRAM starts at 1000h
Memory/Registers
SyncManager
• DPRAM size depends on Slave Controller
FMMU implementation (up to 60 kByte, 4kByte in actual FPGA
Diagnosis
Distributed Clocks implementation)
Application Layer
State Machine • Addressing of registers and DPRAM same
Mailbox
Mailbox Interface • Register Write is different –
EoE Ethernet
CoE CANopen
shadow Register for all Registers integrated
FoE File Access DPRAM write is not shadowed
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (49)


Register of EtherCAT Slave Controller

EtherCAT Basics
Slave Structure
• First 1000h bytes (4 kBytes) of local address space
Device Model (ISO/OSI)
Physical Layer
• Read access for both sides (EtherCAT and application)
Data Link Layer
Frame Structure
• Write access from EtherCAT for most of the registers
Addressing – Master has to configure the Slave Controller
Commands
Memory/Registers • No address settings needed
SyncManager
FMMU
• FMMU and Sync Manager configuration can be optimized for
Diagnosis available bandwidth and cycle times
Distributed Clocks
Application Layer
– Exceptions that are writable from the application side:
State Machine • AL Status Register, AL Status Code Register,
Mailbox
Mailbox Interface
AL Event Mask Register, Sync Manager Disable Registers, AL
EoE Ethernet Identification Registers
CoE CANopen
FoE File Access • Process Data Interface (PDI) register initialized from
SoE Servo Drive
ESI: Device Description
Slave Information interface (Serial EEPROM)
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (50)


Register
D e mo
EtherCAT Basics
Slave Structure
• Registers might be monitored via configuration tool
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (51)


Register – ESC Data Sheet
D e mo
EtherCAT Basics
Slave Structure
• Register description for every ESC (FPGA/ ASIC)
Device Model (ISO/OSI) – DL Information, DL Control, DL Status, DL Address
Physical Layer
Data Link Layer – AL Control, AL Status, AL Event
Frame Structure
Addressing – SyncManager + FMMU configuration
Commands
Memory/Registers – Distributed Clocks
SyncManager
FMMU
– Slave Information interface (Serial EEPROM)
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive Enable Disable Ports
ESI: Device Description
SII: Slave Information /IF Control of the device state machine
Device Profiles
Modular Devices Status of the device state machine
Drives
Configuration Tool Error Code
EtherCAT Master
Standards&Implementation 32 Bit I/0, SPI, µC Interface

03/2011 © EtherCAT Technology Group (52)


SyncManager Overview

EtherCAT Basics • SyncManager protects a DPRAM section from simultaneous


Slave Structure
Device Model (ISO/OSI)
access data consistency
Physical Layer
Data Link Layer
Frame Structure • Up to 16 independent SyncManger channels possible
Addressing
Commands
Memory/Registers • The SyncManager configuration registers start at address
SyncManager
FMMU
0x0800
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (53)


SyncManager Types

EtherCAT Basics • Mailbox Type


Slave Structure
Device Model (ISO/OSI) – 1 buffer SyncManager supports handshake
Physical Layer
Data Link Layer
– Data overflow protection
Frame Structure – Writing side must write before reading side can read
Addressing
Commands – Reading side must read before writing side can write again
Memory/Registers
SyncManager
FMMU • Buffered Type
Diagnosis
Distributed Clocks – 3 buffer SyncManager guarantees consistent data delivery
Application Layer and access to the newest data any time
State Machine
Mailbox – Always a free buffer to write
Mailbox Interface
EoE Ethernet
– Always a consistent buffer to read (except before the first
CoE CANopen writing)
FoE File Access
SoE Servo Drive
– Usually used for process data communication
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (54)


Buffered Type (3 buffers) Write Example

EtherCAT Basics
Slave Structure
• Characteristic: Data always available for both sides
Device Model (ISO/OSI)
Physical Layer
• Requires 3 (consecutive) memory areas
Data Link Layer
Frame Structure
Addressing EtherCAT ECAT Next User PDI
Commands
Write begin WR WR WR Read
Memory/Registers
WR WR WR
SyncManager (Writing 1st Byte) latest
WR WR WR RD RD RD RD available data
FMMU A WR WR WR RD RD RD RD
Diagnosis WR WR WR RD RD RD RD
Write end WR WR WR
Distributed Clocks (Writing last Byte)
RD RD RD RD
WR WR WR RD RD RD RD
Application Layer
State Machine
Mailbox ECAT ECAT …Go on
ECAT ECAT
Mailbox Interface ECAT ECAT reading Cycle
EoE Ethernet B ECAT ECAT begins
CoE CANopen ECAT ECAT RD RD RD RD
ECAT ECAT RD RD RD RD
Read end again
FoE File Access
ECAT ECAT (Reading last Byte) with A
SoE Servo Drive RD RD RD RD
ESI: Device Description
WR WR WR RD RD RD RD
SII: Slave Information /IF Write begin WR WR WR
Read
RD RD RD RD
Device Profiles (Writing 1st Byte) WR WR WR latest available
RD RD RD RD
data
Modular Devices
C WR WR WR RD RD RD RD
(Reading 1st Byte)
Drives RD RD RD RD
Configuration Tool RD RD RD RD
EtherCAT Master RD RD RD RD
Standards&Implementation

03/2011 © EtherCAT Technology Group (55)


Mailbox Type (1 buffer) Read Example

EtherCAT Basics
Slave Structure
• Allows handshake Communication
Device Model (ISO/OSI)
Physical Layer
• Useful for non-Process Data
Data Link Layer
Frame Structure
• Handshake mechanism – one side has control
Addressing
Commands
Memory/Registers
SyncManager Master EtherCAT Slave
FMMU
Diagnosis
Distributed Clocks
Read
Application Layer MBX Empty
State Machine
Failed Read
Mailbox WKC = 0
Mailbox Interface
EoE Ethernet Write
CoE CANopen
FoE File Access
SoE Servo Drive MBX Full Write Successfull
ESI: Device Description (Writing last
Byte)
SII: Slave Information /IF
Device Profiles Read
Modular Devices MBX Empty
Drives Successfull Read
Configuration Tool WKC = 1
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (56)


SyncManager channel configuration registers

EtherCAT Basics SM register is from 0x0800+y*0x08 to 0x0807+y*0x08


Slave Structure y= SM index range 0..15
Device Model (ISO/OSI)
Physical Layer 16 Bit 16 Bit 8 Bit 8 Bit 16 Bit
Data Link Layer Rep Rep
Frame Structure Start Address Length Ctrl Status En Req
Res Act Ack Res
Addressing 0 16 32 40 48 49 50 56 57 58 63
Commands
Memory/Registers
SyncManager Controlled by Master Controlled by Slave
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
1/3 Buffer R/W IE IP WD Res IW IR WD 1P 3P Res
Mailbox Interface
EoE Ethernet 0 2 4 5 6 7 0 1 2 3 4 5

CoE CANopen
FoE File Access
SoE Servo Drive 00: read Watchdog 00: read
ESI: Device Description 01: write Enable 01: written
SII: Slave Information /IF
Device Profiles
Modular Devices 00: 3 Buffer Interrupt Completely 00: Buffer 0
Drives
10: 1 Buffer Enable read 01: Buffer 1
Configuration Tool
EtherCAT Master to PDI 10: Buffer 2
Completely
Standards&Implementation 11: locked
written
(Start)
03/2011 © EtherCAT Technology Group (57)
SyncManager Assignment

EtherCAT Basics
Slave Structure
• Standard assignment
Device Model (ISO/OSI) – With mailbox support
Physical Layer
Data Link Layer
• SM0: Mailbox output
Frame Structure • SM1: Mailbox input
Addressing
Commands
• SM2: Process data outputs
Memory/Registers • SM3: Process data inputs
SyncManager
FMMU
• Readable via CoE object 1C00h
Diagnosis – Without mailbox support
Distributed Clocks
Application Layer
• SM0: Process data outputs
State Machine (or inputs if no outputs available)
Mailbox • SM1: Process data inputs
Mailbox Interface
EoE Ethernet • Extended assignment
CoE CANopen – SM0: Mailbox output
FoE File Access
SoE Servo Drive – SM1: Mailbox input
ESI: Device Description
– SM left are configurable via CoE object 1C00h
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
• One or more PDO always fits exactly into a SyncManager
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (58)


Fieldbus Memory Management Unit (FMMU)

EtherCAT Basics
Slave Structure
• Maps a section of the local address space into the global
Device Model (ISO/OSI) address space and vice versa
Physical Layer
Data Link Layer • Read and write access distinguishable
Frame Structure
Addressing • Bitwise configuration of the memory section possible
Commands
Memory/Registers • Up to 16 independent FMMU channels possible
SyncManager
FMMU – FMMU configuration registers start at address 0x0600
Diagnosis
Distributed Clocks
Application Layer
State Machine Operation samples:
Mailbox
Mailbox Interface • Mapping of process data into the global address space
EoE Ethernet
CoE CANopen • Mapping of status bits from the register section
FoE File Access
SoE Servo Drive – Access to device specific status information with a minimum
ESI: Device Description overhead – e.g. fill status of a sync manager channel
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (59)


FMMU Usage for Addressing

EtherCAT Basics
Slave Structure
• Global address space
Device Model (ISO/OSI)
Physical Layer
• 4 GByte address space
Data Link Layer
Frame Structure
• Mapping to local addresses by
Addressing Fieldbus Memory Management Units (FMMU)
Commands
Memory/Registers • All EtherCAT devices can map data in a single EtherCAT
SyncManager
FMMU Datagram LRW – depending on the FMMU configuration
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Master
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices ECAT
Ethernet Header EtherCAT Data FCS
Drives HDR
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (60)


FMMU entity configuration registers

EtherCAT Basics FMMU register is from 0x0600+y*0x10 to 0x060F+y*0x10


Slave Structure y= FMMU index range 0..15
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure 32 Bit 16 Bit 8 Bit 8 Bit 16 Bit 8 Bit 8 Bit 1 Bit 31 Bit
Addressing
Commands
Glob. Start Addr. Length GSB GEB Phy. Start LSB Dir E Res…
Memory/Registers 0 32 48 56 64 80 88 96 97 127
SyncManager
FMMU
Diagnosis
3 Bit 5 Bit 6 Bit
Distributed Clocks
Application Layer
State Machine
0-7 Reserved R W Reserved Enable
Mailbox 0 3 7 0 1 2 7
Mailbox Interface
EoE Ethernet Length of all Write Enable
CoE CANopen
FoE File Access
concerned
SoE Servo Drive Bytes Read Enable
ESI: Device Description
SII: Slave Information /IF
Device Profiles Global Local
Modular Devices Start Address GSB: Global Start Bit Start Address
Drives
Configuration Tool
(32 Bit) GEB: Global End Bit (16 Bit)
EtherCAT Master LSB: Local Start Bit
Standards&Implementation

03/2011 © EtherCAT Technology Group (61)


FMMU entity configuration registers

EtherCAT Basics FMMU Register from 0x6000 to 0x06FF


Slave Structure
Device Model (ISO/OSI) Reg. Addr. Offset Lenth in Description
Physical Layer Byte
Data Link Layer +0x0:0x3 4 Logical Start Address
Frame Structure
Addressing +0x4:0x5 2 Length
Commands
+0x6 1 Logical Start bit
Memory/Registers
SyncManager +0x7 1 Logical Stop bit
FMMU
+0x8:0x9 2 Physical Start Address
Diagnosis
Distributed Clocks +0xA 1 Physical Start bit
Application Layer
+0xB 1 Type
State Machine
Mailbox +0xC 1 Activate
Mailbox Interface
+0xD:0xF 3 Reserved
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (62)


FMMU Setup

EtherCAT Basics
Slave Structure
1. Master reads hardware configuration including input and
Device Model (ISO/OSI) output data length of each slave
Physical Layer
Data Link Layer 2. Master organizes mapping of process data
Frame Structure
Addressing 3. Master distributes information (start address etc.) for
Commands
Memory/Registers every slave about where process data in logical process
SyncManager
FMMU
image is provided
Diagnosis
Distributed Clocks
4. Process data communication starts
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (63)


FMMU example

EtherCAT Basics
Slave Structure
• Map 6 Bits form logical address 0x14711.3 to 0x14712.0
Device Model (ISO/OSI) to the physical register bits 0x0F01.1 to 0x0F01.6.
Physical Layer
Data Link Layer – The FMMU length is 2 Byte, since the mapped bits span 2
Frame Structure
Addressing
Bytes of the logical space.
Commands
Memory/Registers
SyncManager
FMMU FMMU config. register FMMU reg. offset Value
Diagnosis
Distributed Clocks Logical Start Address 0x0:0x3 0x00014711
Application Layer
Length (Byte) 0x4:0x5 0x0002
State Machine
Mailbox Logical Start Bit 0x6 0x03
Mailbox Interface
EoE Ethernet Logical Stop Bit 0x7 0x00
CoE CANopen
Physical Start Address 0x8:0x9 0x0F01
FoE File Access
SoE Servo Drive Physical Start Bit 0xA 0x01
ESI: Device Description
SII: Slave Information /IF Type 0xB Rand and/or Write
Device Profiles
Activate 0xC 1 (enable)
Modular Devices
Drives
Configuration Tool
Note: FMMU configuration registers start at address 0x0600
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (64)


Diagnosis at Data Link – Possible Errors

EtherCAT Basics
Slave Structure Error situation Detection
Device Model (ISO/OSI)
Physical Layer Wrong Station Check EEPROM, Vendor, Device, SerialNo
Data Link Layer
Frame Structure Transmission Check Transmission Error Counter of each station
Addressing
Commands
Errors
Memory/Registers
SyncManager
Change Check Link Status of last device (should have
FMMU between In and only a single port connected)
Diagnosis
Distributed Clocks
Out Cable (Only for 2 Port devices)
Application Layer
State Machine Link loss/ Check working counter of a Broadcast read
Mailbox
Mailbox Interface
Station fault
EoE Ethernet
CoE CANopen
Frame loss Close loop in the middle
FoE File Access Check errors again
SoE Servo Drive
ESI: Device Description If no frame loss repeat this in the 2nd half of
SII: Slave Information /IF
Device Profiles
segment
Modular Devices Otherwise repeat this in the first half of segment
Drives
Configuration Tool Repeat this until only a single station remains,
EtherCAT Master
Standards&Implementation
which should be the station with problems

03/2011 © EtherCAT Technology Group (65)


Monitoring of EtherCAT Communication

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI) Network Monitor*
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands Master
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen • Masters sends an EtherCAT Frame (broadcast)
FoE File Access
SoE Servo Drive Monitor gets the first copy (unprocessed)
ESI: Device Description
SII: Slave Information /IF • Frame returns from EtherCAT Slave Devices
Device Profiles
Modular Devices Monitor gets the second copy (processed)
Drives
Configuration Tool
EtherCAT Master *Attention: At low cycle times order of frames might be mixed because of
Standards&Implementation timing restrictions within NDIS protocol driver.

03/2011 © EtherCAT Technology Group (66)


Monitoring of EtherCAT Communication

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Switch
Data Link Layer
Frame Structure
Addressing
Commands Master
Memory/Registers
SyncManager
FMMU
Network Monitor
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen • Masters sends an EtherCAT Frame (broadcast)
FoE File Access
SoE Servo Drive Monitor gets the first copy (unprocessed)
ESI: Device Description
SII: Slave Information /IF • Frame returns from EtherCAT Slave Devices
Device Profiles
Modular Devices Monitor gets the second copy (processed)
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation Real-time performance is limited
03/2011 © EtherCAT Technology Group (67)
Monitoring of EtherCAT Communication

EtherCAT Basics
Slave Structure
Network Monitor
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing Ethernet
Commands
Probe
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Master
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen • Masters sends an EtherCAT Frame (broadcast)
FoE File Access
SoE Servo Drive Monitor gets the 1st copy (unprocessed) with Timestamp
ESI: Device Description
SII: Slave Information /IF • Frame returns from EtherCAT Slave Devices
Device Profiles
Modular Devices Monitor gets the 2nd copy (processed) with Timestamp
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation Real-time performance is not affected (no jitter, no delay)
03/2011 © EtherCAT Technology Group (68)
Purpose of Distributed Clocks (DC)

EtherCAT Basics
Slave Structure
• Precise Synchronization (<< 1 µs!) by exact adjustment
Device Model (ISO/OSI) of Distributed Clocks
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands M
Memory/Registers S
SyncManager IPC
Master ∆t
FMMU
Diagnosis
Distributed Clocks S
Application Layer S
State Machine
Mailbox
Mailbox Interface
EoE Ethernet S S S S
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (69)


External Clock Synchronization: IEEE 1588

EtherCAT Basics
Slave Structure
• Switchport with integrated IEEE 1588 Boundary Clock
Device Model (ISO/OSI)
Physical Layer IEEE 1588
Data Link Layer Grandmaster
Frame Structure
Addressing
Commands M Boundary
Memory/Registers S Clock
SyncManager Master
FMMU
Diagnosis
Distributed Clocks S
Application Layer S
State Machine
Mailbox
Mailbox Interface
EoE Ethernet S S S S
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (70)


Distributed Clocks – Features

EtherCAT Basics • Synchronization of EtherCAT devices


Slave Structure
Device Model (ISO/OSI) • Definition of a System Time
Physical Layer
Data Link Layer – Beginning on January, 1st 2000 at 0:00h
Frame Structure
Addressing – Base unit is 1 ns
Commands
Memory/Registers
– 64 bit value (enough for more than 500 years)
SyncManager – Lower 32 bits spans over 4.2 seconds
FMMU
Diagnosis • Normally enough for communication and time stamping
Distributed Clocks
Application Layer • Definition of a Reference Clock
State Machine
Mailbox – One EtherCAT Slave will be used as a Reference Clock
Mailbox Interface
EoE Ethernet
– Reference Clock distributes its Clock cyclically
CoE CANopen
– Reference Clock adjustable from a “global” Reference
FoE File Access
SoE Servo Drive Clock – IEEE 1588
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (71)


Distributed Clocks Unit

EtherCAT Basics IRQ Sync1 / Latch1


SPI / µC parallel
Slave Structure
Digital I/O Sync0 / Latch0
Device Model (ISO/OSI)
Physical Layer
Data Link Layer Process Data Interface
EtherCAT Address Space
Frame Structure (PDI)
Addressing
Commands
Memory/Registers
FMMU n
SyncManager
Sync / Latch Unit
FMMU
Diagnosis SyncMan
Distributed Clocks DC
Control Offset
Application Layer
State Machine
Mailbox EtherCAT Processing Unit System Time
Mailbox Interface and Auto-Forwarder with Loop Back
Delay
EoE Ethernet Distributed Clocks
CoE CANopen Port 0 Port 1 Port 2 Port 3
FoE File Access EtherCAT Slave Controller (ESC)
SoE Servo Drive
Mag

Mag

RJ45
RJ45

ESI: Device Description PHY PHY

SII: Slave Information /IF


Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (72)


Features of DC Unit within ESC

EtherCAT Basics
Slave Structure
• Provider for local time signals
Device Model (ISO/OSI) – Generation of synchronous local output signals
Physical Layer
Data Link Layer (SYNC0, SYNC1 Signals)
Frame Structure
Addressing
– Generation of synchronous Interrupts
Commands
Memory/Registers
• Synchronous Digital Output updates and Input sampling
SyncManager
FMMU
• Precise time stamping of input events (Latch unit)
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (73)


Features of DC Unit within ESC

EtherCAT Basics
Slave Structure
• Propagation delay measurement support
Device Model (ISO/OSI) – Each EtherCAT slave controller measures the delay
Physical Layer
Data Link Layer between the two directions of a frame
Frame Structure
Addressing
– Master calculates the propagation delays between all
Commands slaves
Memory/Registers
SyncManager • Offset compensation to Reference Clock
FMMU
Diagnosis – Offset between local clock and Reference Clock
Distributed Clocks
Application Layer – Same absolute system time in all devices
State Machine
Mailbox
– Simultaneousness (clear below 100ns difference) in all
Mailbox Interface devices
EoE Ethernet
CoE CANopen • Drift compensation to Reference Clock
FoE File Access
SoE Servo Drive – DC Control Unit
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (74)


Register System Time

EtherCAT Basics • Registers:


Slave Structure
Device Model (ISO/OSI) – System Time
Physical Layer (0x0910:0x0917, small systems 0x0910:0x0913)
Data Link Layer
Frame Structure
Addressing
Commands • System Time
Memory/Registers
SyncManager
– Read access from both sides (EtherCAT and µC)
FMMU – Consistent access from µC
Diagnosis
Distributed Clocks (access to first byte saves an internal copy)
Application Layer – Consistent access from EtherCAT
State Machine
Mailbox (within a single frame, internally latched with SOF)
Mailbox Interface – Write access from EtherCAT starts the DC control
EoE Ethernet
CoE CANopen – ARMW command (auto increment read – multiple write)
FoE File Access
allows to read System Time of the reference clock and write
SoE Servo Drive
ESI: Device Description it to all slave clocks within a single frame
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (75)


DC - Propagation Delay Measurement (1)

EtherCAT Basics
Slave Structure
• EtherCAT Node measures time difference between
Device Model (ISO/OSI) leaving and returning frame
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks EtherCAT Frame
Processing Direction
Application Layer
State Machine EtherCAT Frame
Mailbox Forwarding Direction
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (76)


DC - Propagation Delay Measurement (2)

EtherCAT Basics
Slave Structure
• EtherCAT Node measures time difference between
Device Model (ISO/OSI) leaving and returning frame
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager IPC
Master
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (77)


Propagation Delay Measurement

EtherCAT Basics • Registers:


Slave Structure
Device Model (ISO/OSI) – Receive Time Port 0 (0x0900:0x0903)
Physical Layer
Data Link Layer
– Receive Time Port 1 (0x0904:0x0907)
Frame Structure – Receive Time Port 2 (0x0908:0x090B)
Addressing
Commands – Receive Time Port 3 (0x090C:0x090F)
Memory/Registers
SyncManager
– System Time Delay (0x0928:0x092B)
FMMU
Diagnosis
Distributed Clocks • Write access to Receive Time Port 0 activates latch
Application Layer
State Machine
– Latch local time of SOF (Start of Frame)
Mailbox – At EOF (End of Frame) SOF time is copied to Receive Time
Mailbox Interface
EoE Ethernet
Port X
CoE CANopen • Receive Time Port X in local clock units (controlled)
FoE File Access
SoE Servo Drive • SOF time of all frames are latched on all ports internally
ESI: Device Description
SII: Slave Information /IF
• Master reads all time stamps and calculates the delay times
Device Profiles with respect to the topology.
Modular Devices
Drives
• Individual delay time is written to register System Time Delay
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (78)


Offset and Drift Compensation

EtherCAT Basics
Slave Structure
• Same System Time in all devices
Device Model (ISO/OSI)
Physical Layer Global System Time Individual
Data Link Layer
e.g. by RTC or IEEE1588 System Time Offset
Frame Structure
Addressing
Reference: Jan 1st 2000
Commands M
Memory/Registers S
SyncManager IPC ∆t
Master
FMMU
Diagnosis
Distributed Clocks S
Application Layer S
State Machine
Mailbox
Mailbox Interface
EoE Ethernet S S S S
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (79)


Offset Compensation

EtherCAT Basics
Slave Structure
• Registers:
Device Model (ISO/OSI) – System Time Offset
Physical Layer
Data Link Layer (0x0920:0x927, small systems 0x0920:0x0923)
Frame Structure
Addressing
Commands
Memory/Registers • Difference between the Reference Clock and every slave
SyncManager
FMMU
device's clock is calculated by the master.
Diagnosis
Distributed Clocks
• The offset time is written to register System Time Offset
Application Layer
State Machine
• Each slave calculates its local copy of the System time
Mailbox using its local time and the local offset value:
Mailbox Interface
EoE Ethernet
CoE CANopen
• tLocal copy of System Time = tLocal time + tOffset
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (80)


Drift Compensation – DC Control

EtherCAT Basics • Registers:


Slave Structure
Device Model (ISO/OSI) – System Time
Physical Layer (0x0910:0x0917, small systems 0x0910:0x0913)
Data Link Layer
Frame Structure – System Time Offset
Addressing (0x0920:0x927, small systems 0x0920:0x0923)
Commands
Memory/Registers
SyncManager
FMMU • ARMW command (auto increment read – multiple write)
Diagnosis
Distributed Clocks
allows to read System Time of the reference clock and
Application Layer write it to all slave clocks within a single frame
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
• DC Control
CoE CANopen – Write access to System Time compares
FoE File Access
received Time with local time
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF Δt = (tLocal time + tOffset - tPropagationDelay) - tReceived Time
Device Profiles
Modular Devices
Drives – If (Δt > 0) then decelerate local clock
Configuration Tool
EtherCAT Master
else if (Δt < 0) accelerate local clock
Standards&Implementation

03/2011 © EtherCAT Technology Group (81)


Initialization of DCs

EtherCAT Basics • Initialization with Propagation Delay compensation


Slave Structure 1. Master reads the DL Status register of all slaves and calculates the network topology.
Device Model (ISO/OSI) 2. Master sends a broadcast write to Receive Time Port 0 register (at least first byte). All slaves
Physical Layer latch the local time of the first preamble bit of this frame at all ports and at the ECAT
Data Link Layer Processing Unit. Some ESCs need the EtherCAT network to be free of frames before the
Frame Structure broadcast write is sent.
Addressing
3. Master waits until the broadcast write frame has returned.
Commands
Memory/Registers 4. Master reads all Receive Time Port 0-3 registers (depending on the topology and the Receive
SyncManager Time ECAT Processing Unit register (0x0918:0x091F) which contains the upper 32 bits of the
FMMU receive times.
Diagnosis 5. Master calculates individual propagation delays and writes them to System Time Delay
Distributed Clocks registers of the slaves. Possible overruns of the 32 bit Receive Times have to be checked and
Application Layer taken into account.
State Machine 6. Master sets System Time Offset register of the Reference Clock so that the Reference Clock is
Mailbox bound to the master time. The offset for the Reference Clock is master time minus Receive
Mailbox Interface Time ECAT Processing Unit (local time) of the Reference Clock.
EoE Ethernet 7. Master calculates System Time offsets for all DC slaves and writes them to the System Time
CoE CANopen Offset registers. The offset of each slave is Receive Time ECAT Processing Unit from
FoE File Access Reference Clock minus Receive Time ECAT Processing Unit from each DC slave.
SoE Servo Drive
8. For static drift compensation, the master sends many separate ARMW or FRMW drift
ESI: Device Description
compensation frames (e.g., 15,000 frames) to distribute the System Time of the Reference
SII: Slave Information /IF
Clock to all DC slaves.
Device Profiles
Modular Devices 9. For dynamic drift compensation, the master sends ARMW or FRMW commands periodically to
Drives distribute the System Time of the Reference Clock to all DC slaves. The rate of the drift
Configuration Tool compensation commands depends on the acceptable maximum deviation.
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (82)


SyncSignal Generation

PDI IRQ Sync1


EtherCAT Basics • Output of the Sync unit can be used for Sync0
Slave Structure
Device Model (ISO/OSI) – Interrupt generation
Physical Layer Sync Unit
Data Link Layer
– PDI Digital Output Update events Latch Unit

Frame Structure • Can be mapped to DC


Control Offset
Addressing
Commands – AL Event Request Register for System Time
Memory/Registers PDI IRQ Delay
SyncManager Distributed Clocks
FMMU – SYNC0 and SYNC1
Diagnosis
Distributed Clocks
• SyncSignals can be generated at a specific System Time
Application Layer • Four Operation modes are supported:
State Machine
Mailbox – Cyclic generation
Mailbox Interface
EoE Ethernet
– Single shot
CoE CANopen – Cyclic acknowledge
FoE File Access
SoE Servo Drive – Single shot acknowledge
ESI: Device Description
SII: Slave Information /IF
• The second SyncSignal (SYNC1) depends on SYNC0, it can be
Device Profiles generated with a predefined delay after SYNC0 pulses
Modular Devices
Drives
• Initiated alternatively from the EtherCAT master or slave
Configuration Tool application side
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (83)


Registers for SyncSignal Generation

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer Register Address Name Description
Frame Structure
0x0140[11:10] PDI Control Enable/Disable DC Units (power saving)
Addressing
Commands 0x0151 Sync/Latch PDI Configuration Configuration of SYNC/LATCH[1:0] pins
Memory/Registers 0x0980.0 Cyclic Unit Control Assignment of cyclic function to EtherCAT or
SyncManager PDI
FMMU 0x0981 Activation Activation of cyclic function and SYNC pins
Diagnosis
0x0982:0x0983 Pulse Length of SYNC signals Length of SYNC impulse length
Distributed Clocks
Application Layer 0x098E SYNC0 Status Status of SYNC0 signal
State Machine 0x098F SYNC1Status Status of SYNC1 signal
Mailbox 0x0990:0y0997 SYNC0 Start Time Start Time of cyclic operation
Mailbox Interface
EoE Ethernet
0x0998:0x099F NEXT SYNC1 Pulse Next Sync1 Pulse
CoE CANopen 0x09A:0x09A3 SYNC0 Cycle Time Cycle Time of SYNC0
FoE File Access 0x09A4:0x09A7 SYNC1 Cycle Time Cycle Time of SYNC1
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (84)


SYNC0 Signal Generation modes

EtherCAT Basics
Start Time
Slave Structure
Device Model (ISO/OSI)
Activation SYNC0 Cycle Time

Physical Layer Cyclic generation


Data Link Layer SYNC0
Frame Structure
Addressing
Single shot
Commands
Memory/Registers SYNC0
SyncManager
FMMU Acknowlege
Diagnosis Cyclic Acknowledge mode
Distributed Clocks
SYNC0
Application Layer
State Machine Acknowlege
Mailbox Single shot Acknowledge mode
Mailbox Interface
SYNC0
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Pulse Length SYNC0 Cycle Time
ESI: Device Description
(0x09A0:0x09A3)
SII: Slave Information /IF of SYNC Signals
Device Profiles (0x0982:0x0983) >0 =0
Modular Devices
Drives >0 Cyclic generation Single Shot
Configuration Tool
=0 Cyclic Acknowledge* Single Shot Acknowledge*
EtherCAT Master
Standards&Implementation * Acknowledge by reading SYNC status register (0x098E, 0x098F)

03/2011 © EtherCAT Technology Group (85)


SYNC1 Signal Generation modes

EtherCAT Basics Start Time

Slave Structure
Device Model (ISO/OSI) SYNC1 Cycle Time < SYNC0 Cycle Time SYNC0 Cycle Time

Physical Layer
SYNC0
Data Link Layer
SYNC1 Cycle Time
Frame Structure
Addressing SYNC1
Commands
Memory/Registers SYNC0 Cycle Time
SYNC1 Cycle Time = SYNC0 Cycle Time
SyncManager
FMMU SYNC0

Diagnosis SYNC1 Cycle Time SYNC1 Cycle Time

Distributed Clocks SYNC1


Application Layer
State Machine
SYNC0 Cycle Time
Mailbox SYNC1 Cycle Time = 2*SYNC0 Cycle Time
Mailbox Interface SYNC0
EoE Ethernet SYNC1 Cycle Time SYNC 1 Cycle Time
CoE CANopen
FoE File Access SYNC1

SoE Servo Drive


SYNC1 Cycle Time > SYNC0 Cycle Time
ESI: Device Description and SYNC0 Cycle Time
SII: Slave Information /IF SYNC1 Cycle Time < 2*SYNC0 Cycle Time
Device Profiles SYNC0
Modular Devices SYNC1 Cycle Time SYNC1 Cycle Time

Drives
SYNC1
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (86)


Latch Functionality

EtherCAT Basics
Slave Structure
• The Latch Event unit supports time stamping of the
Device Model (ISO/OSI) system time with two independent input signals
Physical Layer
Data Link Layer – LATCH0 and LATCH1 input signals are used
Frame Structure (can be the same pins as for SYNC0 and SYNC1, ESC dependents)
Addressing
Commands – Time Stamping of SyncManager events is possible
Memory/Registers
SyncManager • Latch on positive and/or negative edge
FMMU
Diagnosis • Single or continuous latch configurable
Distributed Clocks
Application Layer • The Latch Time register (0x09B0:0x09CF) contain the
State Machine
Mailbox
time stamps
Mailbox Interface
– Acknowledge by reading the Latch Time register.
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (87)


Registers for Latch Input Events

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Register Address Name Description
Physical Layer
Data Link Layer 0x0140[11:10] PDI Control Enable/Disable DC Units (power saving)
Frame Structure 0x0151 Sync/Latch PDI Configuration Configuration of SYNC/LATCH[1:0] pins
Addressing 0x0980[5:4] Cyclic Unit Control Assignment of cyclic function to EtherCAT or
Commands PDI
Memory/Registers
0x09A8 Latch0 Control Latch unit configuration for Latch0
SyncManager
FMMU 0x09A9 Latch1 Control Latch unit configuration for Latch1
Diagnosis 0x09AE Latch0 Status Latch status of Latch0
Distributed Clocks 0x09AF Latch1 Status Latch status Latch1
Application Layer
0x09B0:0x09B7 Latch0 Time Positive Edge Time stamp positive edge Latch0
State Machine
Mailbox 0x09B8:0x09BF Latch0 Time Negative Edge Time stamp negative edge Latch0
Mailbox Interface 0x09C0:0x09C7 Latch1 Time Positive Edge Time stamp positive edge Latch1
EoE Ethernet 0x09C8:0x09CF Latch1 Time Negative Edge Time stamp negative edge Latch1
CoE CANopen
EtherCAT Buffer Change Time stamp for ECAT SyncManager buffer
FoE File Access 0x09F0:0x09F3
Event Time change event
SoE Servo Drive
ESI: Device Description
Time stamp for PDI SyncManager buffer start
0x09F8:0x09FB PDI Buffer Start Event Time
SII: Slave Information /IF
event
Device Profiles Time stamp for PDI SyncManager buffer
0x09FC:0x09FF PDI Buffer Change Event Time
Modular Devices change event
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (88)


Synchronization Modes

EtherCAT Basics • Definition of a unique behavior of EtherCAT devices (Master


Slave Structure
Device Model (ISO/OSI) and Slaves) for synchronized applications
Physical Layer
Data Link Layer
• Synchronization modes
Frame Structure
Addressing
– Free Run
Commands – Synchronization with SyncManager Event,
Memory/Registers
SyncManager i.e. receipt of the telegram
FMMU
Diagnosis
– Synchronization with Distributed Clocks
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (89)


Synchronization Modes

EtherCAT Basics
Slave Structure
1. Free Run
Device Model (ISO/OSI)
Physical Layer
2. Synchronous to SM2/3 (with Shift)
Data Link Layer
Frame Structure
3. DC Mode 1 (Sync0 Event)
Addressing
Commands
4. DC Mode 1 (Sync0 Event with Shift)
Memory/Registers
SyncManager
5. DC Mode 2 (Sync0, Sync1, with Shift)
FMMU
Diagnosis
6. DC Mode 3 (SM2 Event, Sync0)
Distributed Clocks
Application Layer
7. DC Mode 4 (SM2 Event, Sync0, Sync1)
State Machine
Mailbox
8. DC Mode with subordinated cycles
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (90)


Free Run
Local Timer

Local Timer Event Local Timer Event

0x1C32:02 (Cycle Time)

1C32:05 (Min Cycle Time)

Copy and prepare Get and Copy inputs


outputs
Outputs Valid Input Latch

03/2011 © EtherCAT Technology Group (91)


Synchronous with SM2/3
SM-Event

SM2/3 Event SM2/3 Event


Frame 0x1C32:02 (Cycle Time) Frame

1C32:05 (Min Cycle Time)

Copy and prepare Get and Copy inputs


outputs
Outputs Valid Input Latch

03/2011 © EtherCAT Technology Group (92)


Synchronous with SM2/3
SM Event (Shift of Input Latch)

SM2/3 Event SM2/3 Event


Frame 0x1C32:02 (Cycle Time) Frame

1C32:05 (Min Cycle Time)

1C33:03 (Shift Time)

Copy and Prepare


outputs
UserShiftTime
0x1C33:06 (Calc + Copy Time)

Outputs Valid Input Latch

03/2011 © EtherCAT Technology Group (93)


Timing Parameter for DC Mode

Output Calc+Copy Time (RO):


- Minimum time between trigger event (SM or SYNC0) and sync event (SYNC0 or SYNC1)

Output Delay Time (RO):


- Time between sync event (SYNC0 or SYNC1) and Outputs Valid

Output Shift Time (RO/RW):


- Time between SYNC0 event and Outputs Valid
- Outputs Valid could be delayed by writing this time

Input Delay Time (RO, if Input Latch is triggered by SYNC0 or SYNC1):


-Time between sync event (SYNC0 or SYNC1) and Input Latch

Input Calc+Copy Time (RO):


- Time between input latch and data availability for the master

Input Shift Time (RO/RW):


- Time between SYNC0 event and Input Latch
- Input Latch could be delayed by writing this time

03/2011 © EtherCAT Technology Group (94)


DC Mode 1
Sync0 Event

Sync0 Event Sync0 Event

Frame 1C32:02 (Cycle Time) Frame

1C32:05 (Min Cycle Time)

1C33:06 (Calc + Copy Time)


Outputs Valid Input Latch
1C32:09 (Delay Time)
(Hardware Delay)

- Frame has to be received before Sync0 Event is generated


- Sync0 Cycle Time has to be greater than the value of 0x1C32:05
- 0x1C32:01 = 0x1C33:01 = 2, 0x1C32:06 = 0, 0x1C33:09 = 0

03/2011 © EtherCAT Technology Group (95)


DC Mode 1
Sync0 Event (Shift of Outputs Valid and/or Input Latch)

Sync0 Event Sync0 Event

Frame 0x1C32:02 (Cycle Time) Frame

1C32:05 (Min Cycle Time)

0x1C33:03 (Shift Time)

0x1C32:03 (Shift Time)

UserShiftTime
1C33:06 (Calc+Copy Time)
1C32:09 Outputs Valid Input Latch
(Delay Time)
- Output Shift Time 0x1C32:03 has to be greater than the value of 0x1C32:06
- Input Shift Time 0x1C33:03 has to be greater than 0x1C32:05-0x1C33:06
- Input Shift Time 0x1C33:03 has to be smaller than Sync0 Cycle Time-UserShiftTime-0x1C33:06

03/2011 © EtherCAT Technology Group (96)


DC Mode 2
Sync0 Event, Sync1 Event

Sync0 Event Sync0 Event

Frame 1C32:02 (Cycle Time) Frame

1C32:05 (Min Cycle Time)

Sync1 Event

1C33:06 (Calc + Copy Time)


1C32:06 Outputs Valid Input Latch
(Calc+Copy Time)
1C32:09 (Delay Time)
(Hardware Delay)

- Frame has to be received before Sync0 Event is generated


- Sync0 Cycle Time has to be greater than the value of 0x1C32:05
- Shift between SYNC0 and SYNC1 event has to be at least the value of 0x1C32:06
- 0x1C32:01 = 0x1C33:01 = 3, 0x1C33:09 = 0

03/2011 © EtherCAT Technology Group (97)


DC Mode 3
SM-Event, Sync0 Event

SM2/3 Event Sync0 Event SM2/3 Event Sync0 Event

1C32:05 (Min Cycle Time)

Frame Frame

1C32:09 (Delay Time)


1C32:06 (Hardware Delay) 1C33:06 (Calc + Copy Time)
(Calc+Copy Time)
Outputs Valid Input Latch

- Frame has to received at least the value of 0x1C32:06 before Sync0 Event is generated
- Sync0 Cycle Time has to be greater than the value of 0x1C32:05
- 0x1C32:01 = 0x1C33:01 = 2, 0x1C33:09 = 0

03/2011 © EtherCAT Technology Group (98)


DC Mode 4
SM-Event, Sync0 Event, Sync1 Event

SM2/3 Event Sync0 Event SM2/3 Event Sync0 Event

1C32:05 (Min Cycle Time)

Sync1 Event
Frame Frame

1C32:09 (Delay Time)


1C32:06 (Hardware Delay) 1C33:06 (Calc + Copy Time)
(Calc+Copy Time) 1C33:09 (Delay Time)
(Hardware Delay)
Outputs Valid
Input Latch
- Frame has to received at least the value of 0x1C32:06 before Sync0 Event is generated
- Sync0 Cycle Time has to be greater than the value of 0x1C32:05
- Shift between SYNC0 and SYNC1 has to be at least 0x1C32:05-0x1C32:06-0x1C33:06-0x1C33:09
- 0x1C32:01 = 2, 0x1C33:01 = 3

03/2011 © EtherCAT Technology Group (99)


DC Mode subordinated cycles
Sync0 Event, Sync1 Event

Sync 0 Event Sync 0 Event


Sync 0 Cycle Time
Sync1 Event Sync 0 Event Sync 0 Event Sync 0 Event Sync 1 Event
(fixed time)

0x1C32:02 CycleTime

MinCycleTime MinCycleTime

0x1C33:03 (Shift Time)

0x1C32:03 (Shift Time)

0x1C33:06
(Calc+Copy Time)

Outputs Valid Input Latch


1C32:09 (Delay Time)

Possible Output Valid /


Input Latch

03/2011 © EtherCAT Technology Group (100)


Distributed Clocks in TwinCAT

Local Timer Local Timer

Application Application

User Shift Master


Includes the maximum jitter of the Master Shift
master and the maximum value of
the minimum delay times of all slaves
DC Base

Frame D U Frame D U

Fixed Shift (precalc.) Frame Delay Master

Sync0 Shift Slave

S0 S0

Sync0 Sync0
03/2011 © EtherCAT Technology Group (101)
Master Settings for use of DC

DC Base Master Cycle Time DC Base

Max Master Application Cycle Time


User Shift Master

Max. value of
0x1C33:06 U- Frame D U+

Fixed Shift
(precalc.)

Max. value of
0x1C32:06 + 0x1C32:09

Input Data available at SM 3


Outputs valid Input Latch

03/2011 © EtherCAT Technology Group (102)


Master Settings for use of DC –
Slave related settings

DC Base Master Cycle Time DC Base

Max Master Application Cycle Time


User Shift Master
Max. value of Max Value of
0x1C32:06 + 0x1C32:09 0x1C33:06 U- Frame D U+
Input Shift Time (0x1C33:03)
Fixed Shift
Sync0 DC 1 0x1C32:09 (precalc.)
Input Data available at SM 3
0x1C32:05

Sync0 DC 2 0x1C32:06 0x1C32:09 Fixed shift, input latch cannot be met


SYNC1
Cycle Time 0x1C32:05

0x1C32:06 Sync0 0x1C32:09 Fixed shift, input latch cannot be met


DC 3
SYNC1 Cycle Time
Sync0
0x1C32:06 0x1C32:09
Input Delay 0x1C33:09
DC4
Outputs valid Input Latch
03/2011 © EtherCAT Technology Group (103)
Application
Appli- HTTP, Application
….
cation FTP, .. e.g. CiA402 Drive Profile

Object Dictionary Application


RD / WR File
TCP, UDP PDO Mapping Layer
... Access
IP SDO PDO (AL)
VoE FoE EoE CoE CoE
Mailbox DLL
Process Data Interface (µC, SSI, I/O )
SII
EEPROM Registers Mailbox Process Data

0x0000 0x1000
ESC Address Space (DPRAM)
SyncMan0 MbxOut SyncMan1 MbxIn SyncMan2 SyncMan3
Data
FMMU n FMMU n
FMMU Link
EtherCAT Slave Controller (ESC) FMMU
FMMU
Layer
EtherCAT Processing Unit (DL)
and Auto-Forwarder with Loop Back

PHY MII / EBUS MII / EBUS MII / EBUS MII / EBUS


Management Port 0 Port 1 Port 2 Port 3

Physical
Mag
Mag

RJ45
RJ45

PHY PHY LVDS Layer

Con
(PL)
WKC

WKC
HDR

HDR

FCS More Datagrams.. Mailbox Data FPWR Process Data LRW ECAT HDR Ethernet HDR
Purpose of Application Layer (AL)

EtherCAT Basics • EtherCAT State Machine


Slave Structure
Device Model (ISO/OSI) – Boot-up of device and network
Physical Layer
Data Link Layer
Frame Structure
Addressing • Mailbox Interfaces and Protocols
Commands
Memory/Registers
– Access Parameter of a device
SyncManager – Asynchronous transfer
FMMU
Diagnosis
Distributed Clocks
Application Layer • Protocols
State Machine
Mailbox – Ethernet over EtherCAT (EoE)
Mailbox Interface
EoE Ethernet
– CAN application protocol over EtherCAT (CoE)
CoE CANopen
– File transfer over EtherCAT (FoE)
FoE File Access
SoE Servo Drive – Servo Drive over EtherCAT (SoE)
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices • Slave Information Interface (SII)
Drives
Configuration Tool
– Information about the device's features and configuration
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (105)


Purpose of EtherCAT State Machine

EtherCAT Basics
Slave Structure
• Defines general communication states of EtherCAT slave
Device Model (ISO/OSI) devices
Physical Layer
Data Link Layer • Specifies the initialization and error handling of EtherCAT
Frame Structure
Addressing slave devices Boot-up of the network
Commands
Memory/Registers • States correspond to the communication relationship
SyncManager
FMMU
between master and slave
Diagnosis
Distributed Clocks
• Requested and current state of a slave device are
Application Layer reflected in the AL Control and AL Status registers
State Machine
Mailbox • Five states are defined:
Mailbox Interface
EoE Ethernet – ‘Init’, ‘Pre-Operational’, ‘Safe-Operational’, ‘Operational’
CoE CANopen
FoE File Access – ‘Bootstrap’ optional state for firmware updates
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (106)


EtherCAT State Machine

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Init
Frame Structure
Addressing
Commands (IP) (PI) (SI) (IB) (BI)
Memory/Registers
SyncManager
FMMU
Diagnosis Pre-Operational Bootstrap
Distributed Clocks
(optional)
Application Layer
State Machine
Mailbox (OI) (OP) (PS) (SP)
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
Safe-Operational
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF (SO) (OS)
Device Profiles
Modular Devices
Drives
Configuration Tool
Operational
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (107)


State: INIT

EtherCAT Basics
Slave Structure
• ‘Init’ State Init

Device Model (ISO/OSI) – No communication on the


Physical Layer Pre-Operational
Data Link Layer Application Layer
Frame Structure
Addressing
– Master has access to the Safe-Operational
Commands DL-Information registers
Memory/Registers
SyncManager Operational

FMMU
Diagnosis • Transition to ‘Pre-Operational’
Distributed Clocks
Application Layer – Master configures register, at least:
State Machine
Mailbox
• DL Address register
Mailbox Interface • Sync Manager channels for Mailbox communication
EoE Ethernet
CoE CANopen – Master requested ‘Pre-Operational’ state
FoE File Access
SoE Servo Drive
• sets AL Control register
ESI: Device Description • wait for AL Status register confirmation
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (108)


State: PRE-OP

EtherCAT Basics
Slave Structure
• ‘Pre-Operational’ State Init

Device Model (ISO/OSI) – Mailbox communication on the


Physical Layer Pre-Operational
Data Link Layer Application Layer
Frame Structure
Addressing
– No Process Data communication Safe-Operational
Commands
Memory/Registers

Transition to ‘Safe-Operational’
SyncManager Operational

FMMU

Diagnosis
– Master configures parameter using the Mailbox
Distributed Clocks
Application Layer • e.g.: Process Data Mapping
State Machine
Mailbox – Master configures DL Register
Mailbox Interface
• SyncManager channels for Process Data communication
EoE Ethernet
CoE CANopen • FMMU channels
FoE File Access
SoE Servo Drive – Master requested ‘Safe-Operational’ state
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (109)


State: SAFE-OP

EtherCAT Basics
Slave Structure
• ‘Safe-Operational’ State Init

Device Model (ISO/OSI) – Mailbox communication on the


Physical Layer Pre-Operational
Data Link Layer Application Layer
Frame Structure
Addressing
– Process Data communication, Safe-Operational
Commands but only Inputs are evaluated –
Memory/Registers
SyncManager
Outputs in ‘Safe’ state Operational

FMMU
Diagnosis
Distributed Clocks
Application Layer
• Transition to ‘Operational’
State Machine
Mailbox
– Master sends valid Outputs
Mailbox Interface – Master requested ‘Operational’ state
EoE Ethernet
CoE CANopen (AL Control/Status)
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (110)


State: OP

EtherCAT Basics
Slave Structure
• ‘Operational’ State Init

Device Model (ISO/OSI) – Inputs and Outputs are valid


Physical Layer Pre-Operational
Data Link Layer
Frame Structure
Addressing Safe-Operational
Commands
Memory/Registers
SyncManager Operational

FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (111)


State: BOOT

EtherCAT Basics
Slave Structure
• ‘Bootstrap’ State Init

Device Model (ISO/OSI) – ‘Bootstrap’ State is optional – Bootstrap


Physical Layer Pre-Operational
Data Link Layer but recommended if firmware
Frame Structure updates necessary
Addressing Safe-Operational
Commands – State changes only from
Memory/Registers
SyncManager
and to ‘Init’ Operational

FMMU
Diagnosis
– No Process Data communication
Distributed Clocks – Communication via Mailbox on Application Layer
Application Layer
State Machine – Special mailbox configuration possible,
Mailbox
Mailbox Interface
e.g. larger mailbox size
EoE Ethernet – Only FoE protocol available (possibly limited “file” range)
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (112)


EtherCAT State Machine: Control and Status

EtherCAT Basics
Slave Structure
• Requested and current state of a slave device are
Device Model (ISO/OSI) reflected in the AL Control and AL Status registers
Physical Layer
Data Link Layer – AL Control (0x0120)
Frame Structure
Addressing
Initiate State Transition of Device State Machine
Commands – AL Status (0x0130)
Memory/Registers
SyncManager Actual State of Device State Machine
FMMU
Diagnosis
– AL Status Code (0x0134)
Distributed Clocks Reason of error or other status code
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (113)


Diagnosis at Application Layer

EtherCAT Basics
Slave Structure
• AL Status Code (0x0134)
Device Model (ISO/OSI) – Error Codes (extract)
Physical Layer
Data Link Layer
Code Description
Frame Structure
Addressing 0x0000 No Error
Commands
Memory/Registers 0x0011 Invalid requested state change
SyncManager
0x0015 Invalid mailbox configuration
FMMU
Diagnosis 0x0018 No valid inputs available
Distributed Clocks
Application Layer 0x0019 No valid outputs
State Machine
0x001A Synchronization error
Mailbox
Mailbox Interface 0x001B Sync manager watchdog
EoE Ethernet
CoE CANopen
FoE File Access
– Further Status Codes (extract)
SoE Servo Drive
Code Description
ESI: Device Description
SII: Slave Information /IF 0x0021 Slave needs INIT
Device Profiles
Modular Devices 0x0022 Slave need PREOP
Drives
0x0030 Invalid DC Sync Configuration
Configuration Tool
EtherCAT Master 0x0031 Invalid DC Latch Configuration
Standards&Implementation

03/2011 © EtherCAT Technology Group (114)


Mailbox Transfer

EtherCAT Basics Device Parameter (example)


Slave Structure
Device Model (ISO/OSI) Index Value
Physical Layer 0x1600 RxPDO Mapping
Data Link Layer
Frame Structure 0x1A00 TxPDO Mapping
Addressing 0x2000 Current control
Commands
Memory/Registers 0x2010 Velocity control
SyncManager
Mailbox Transfer for Parameter Data
0x2040 Motor parameter
FMMU Full duplex capable
Diagnosis 0x2070 Actual values
Distributed Clocks 0x6040 Controlword
Application Layer
State Machine 0x6041 Statusword
IPC
Mailbox
Mailbox Interface
EoE Ethernet State "PreOperational"
CoE CANopen
FoE File Access ..
.. DVI
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives Simple IO-Device
Configuration Tool No Parameter
EtherCAT Master
Standards&Implementation No Mailbox necessary
03/2011 © EtherCAT Technology Group (115)
Purpose of Mailbox Transfer

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
• Standard way to exchange Parameter Data
Physical Layer
Data Link Layer
• The Mailbox Interface is optional – but recommended
Frame Structure
Addressing
• Needed if Process Data configurable or any other non
Commands cyclic services
Memory/Registers
SyncManager • Full duplex capable
FMMU
Diagnosis (Slave can initiate a communication)
Distributed Clocks
Application Layer • 2 Sync Manager channels reserved
State Machine
Mailbox
– Sync Manager 0 : Master to Slave
Mailbox Interface
EoE Ethernet
– Sync Manager 1 : Slave to Master
CoE CANopen
FoE File Access
• Available at early stage of communication
SoE Servo Drive (State Pre-Operational)
ESI: Device Description
SII: Slave Information /IF • Multi protocol capable
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (116)


Mailbox Protocol Types

EtherCAT Basics
Slave Structure • Ethernet over EtherCAT (EoE)
Device Model (ISO/OSI)
Physical Layer
– Tunnels standard Ethernet Frames over EtherCAT
Data Link Layer
Frame Structure
Addressing
• CAN application protocol over EtherCAT (CoE)
Commands – Access of a CANopen* object dictionary and its objects
Memory/Registers
SyncManager
– CANopen* Emergency and optional event driven PDO
FMMU messages
Diagnosis
Distributed Clocks
Application Layer • File Access over EtherCAT (FoE)
State Machine – Download and upload firmware and other ‘files’
Mailbox
Mailbox Interface
EoE Ethernet • Servo Drive over EtherCAT (SoE)
CoE CANopen
FoE File Access – Access the Servo Profile Identifier (IDN)
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF • Vendor specific Profile over EtherCAT (VoE)
Device Profiles – First DWORD contains the Vendor ID, the next WORD
Modular Devices
Drives
contains a Vendor Type, the rest is vendor specific
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (117)
Mailbox Interface

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
• Datagram within an EtherCAT Frame
Physical Layer
Data Link Layer
Frame Structure
Addressing
Ethernet Header EC Header EtherCAT Data FCS
Commands Type = 88A4h Type = 1
Memory/Registers
SyncManager
FMMU
Diagnosis 1st EtherCAT Datagram 2nd … … nth EtherCAT Datagram
Distributed Clocks
Application Layer
State Machine
Mailbox Datag. Header Data WKC
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
Mailbox Protocol
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices Mbx Header Command Cmd specific data
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (118)


Mailbox Header

EtherCAT Basics 48 Bit


Slave Structure Mbx Header Command Cmd specific data
Device Model (ISO/OSI)
Physical Layer
Data Link Layer 16 Bit 16 Bit 6 Bit 2 Bit 4 Bit 4 Bit
Frame Structure
Length Address Channel Prio Type Cntr
Addressing 0 16 32 38 40 44
Commands
Memory/Registers Length Length of following data
SyncManager
FMMU Address Station Address of originator
Diagnosis
Distributed Clocks Channel reserved for future use
Application Layer
State Machine Priority reserved for future use
Mailbox
Mailbox Interface Type Mailbox Type, Protocol identifier for following data
EoE Ethernet
0 Mailbox Error
CoE CANopen
FoE File Access 2 EoE (Ethernet over EtherCAT)
SoE Servo Drive 3 CoE (CAN application protocol over EtherCAT)
ESI: Device Description 4 FoE (File Access over EtherCAT)
SII: Slave Information /IF 5 SoE (Servo Drive over EtherCAT)
Device Profiles
15 VoE (Vendor specific profile over EtherCAT)
Modular Devices
Drives
Configuration Tool
Counter Sequence number for duplicate detection
EtherCAT Master Increments with every new mailbox service
Standards&Implementation (only the values 1-7 will be used to be compatible with older versions).

03/2011 © EtherCAT Technology Group (119)


Mailbox Error Handling Procedure

EtherCAT Basics • Reliable way of mailbox data exchange


Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
• Mailbox control procedure
Frame Structure
Addressing
Commands • Recover from lost frames
Memory/Registers
SyncManager
FMMU • No additional frames if no error
Diagnosis
Distributed Clocks
Application Layer
State Machine
• Additional receive buffer required
Mailbox
Mailbox Interface
EoE Ethernet • Extra counter in mailbox header needed
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
• HW/SW solution
SII: Slave Information /IF – SyncManager configuration register with toggle flags
Device Profiles
Modular Devices – SW-Mailbox-DL Layer for checking toggle bits
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (120)


Mailbox Error Handling – Sync Manager

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
• Sync Manager channel configuration registers
Physical Layer
16 Bit 16 Bit 8 Bit 8 Bit 16 Bit
Data Link Layer
Frame Structure Rep Rep
Start Address Length Ctrl Status En Req
Res Act Ack Res
Addressing
0 16 32 40 48 49 50 56 57 58 63
Commands
Memory/Registers
SyncManager Controlled by Master Controlled by Slave
FMMU
Diagnosis
Distributed Clocks
Application Layer
Rep Req……Repeat Request
State Machine Rep Ack ……Repeat Acknowledge
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
• Following:
FoE File Access
SoE Servo Drive
– Mailbox Error Handling - Write Example
ESI: Device Description
SII: Slave Information /IF
– Mailbox Error Handling - Read Example
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (121)


Mailbox Error Handling – Mailbox Write

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Master Slave
Frame Structure
Addressing EtherCAT Slave Mailbox
Master
Controller Communication
Commands
Memory/Registers
SyncManager
Master sends FPRD
FMMU
service to write mailbox
Diagnosis Mailbox Write (cnt=1
)
Write Ev
Distributed Clocks ent
Slave receives mailbox
Application Layer Timeout:
Frame gets lost write event and starts local
State Machine Master detects lost frame
handling
Mailbox
Mailbox Interface Master repeats the
mailbox write command Mailbox Write (cnt=1
EoE Ethernet )
with same cnt number Write Ev
CoE CANopen ent Slave receives mailbox
write event with same cnt
FoE File Access
number and discards the
SoE Servo Drive service
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (122)


Mailbox Error Handling – Mailbox Read

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (123)


Ethernet over EtherCAT (EoE)

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands Virtual Ethernet Webserver
Memory/Registers Switch
SyncManager Functionality
FMMU Switchport
Master
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (124)


Ethernet over EtherCAT (EoE)

Virtual Switch

MAC Slave-Address Slave-Address: 0x1009 Slave-Address: 0x100A


v. MAC: 02-01-05-10-03-f4 v. MAC: 02-01-05-10-03-B3
02-01-05-10-03-f4 0x1009 IP: 192.168.1.1 IP: 192.168.1.2
Subnet: 255.255.255.0 Subnet: 255.255.255.0
02-01-05-10-03-B3 0x100A
Gateway: 192.168.1.5 Gateway: 192.168.1.5
57-43-17-91-55-77 0x1007 Name: Axis_2 Name: Axis_2

07-03-15-11-43-d7 0x1003
Master-Interface
MAC: 00-03-47-4A-19-D2
IP: 192.168.1.100
Subnet: 255.255.255.0

Virtual
IP Router
Switch

User-Laptop
MAC: 57-43-17-91-55-77
Standard-Ethernet IP: 192.168.1.3
MAC: 00-15-C5-3B-2F-00 Name: User_Laptop
IP: 176.16.6.60
Subnet: 255.255.0.0
Gateway: 172.16.102.1
DNS Ser: 127.16.1.19

Label printer Switchport Switchport


MAC: 07-03-15-11-43-d7 Slave-Address: 0x1003 Slave-Address: 0x1007
IP: 192.168.1.4 MAC: - MAC: -
Name: Label_printer IP: - IP: -
Name: - Name: -

03/2011 © EtherCAT Technology Group (125)


Ethernet over EtherCAT (EoE)

Virtual Switch

MAC Slave-Address Slave-Address: 0x1009


v. MAC: 02-01-05-10-03-f4
02-01-05-10-03-f4 0x1009 IP: 192.168.1.1
Subnet: 255.255.255.0
02-01-05-10-03-B3 0x100A
Gateway: 192.168.1.5
57-43-17-91-55-77 0x1007 Name: Axis_2

07-03-15-11-43-d7 0x1003
Master-Interface
MAC: 00-03-47-4A-19-D2
IP: 192.168.1.100
Subnet: 255.255.0.0

virtual
Switch

User-Laptop
MAC: 57-43-17-91-55-77
Handling:
IP: 192.168.1.3
1. ARP Req from User-Laptop Name: User_Laptop
(MAC: Broadcast, IP: 192.168.1.1)
2. via Mailbox from Switchport to virtual Switch
3. Mailbox-Telegram from virtual Switch to all
devices with EoE
4. ARP-Resp. from device with 192.168.1.1
with assigned MAC-Address Switchport
5. Standard IP-Transfer via virtual Switch Slave-Address: 0x1007
MAC: -
IP: -
Name: -

03/2011 © EtherCAT Technology Group (126)


Ethernet over EtherCAT (EoE)

Virtual Switch Handling:


1. User-Laptop gets MAC-ID of printer via ARP
MAC Slave-Address 2. IP-Telegram from User-Laptop to printer
02-01-05-10-03-f4 0x1009 Dest-MAC: 07-03-15-11-43-d7,
virtual Switch forwards to EtherCAT Slave
02-01-05-10-03-B3 0x100A
0x1003
57-43-17-91-55-77 0x1007

07-03-15-11-43-d7 0x1003
Master-Interface
MAC: 00-03-47-4A-19-D2
IP: 192.168.1.100
Subnet: 255.255.0.0

virtual
Switch

User-Laptop
MAC: 57-43-17-91-55-77
IP: 192.168.1.3
Name: User_Laptop

Label printer Switchport Switchport


MAC: 07-03-15-11-43-d7 Slave-Address: 0x1003 Slave-Address: 0x1007
IP: 192.168.1.4 MAC: - MAC: -
Name: Label_printer IP: - IP: -
Name: - Name: -

03/2011 © EtherCAT Technology Group (127)


Ethernet over EtherCAT (EoE)

Virtual Switch

MAC Slave-Address

02-01-05-10-03-f4 0x1009

02-01-05-10-03-B3 0x100A

57-43-17-91-55-77 0x1007

07-03-15-11-43-d7 0x1003

Master-Interface
MAC: 00-03-47-4A-19-D2
IP: 192.168.1.100
Subnet: 255.255.0.0

virtual
Switch

IP Router

User-Laptop
MAC: 57-43-17-91-55-77
Standard-Ethernet IP: 192.168.1.3
MAC: 00-15-C5-3B-2F-00 Name: User_Laptop
IP: 176.16.6.60 Handling:
Subnet: 255.255.0.0 1. Enable IP-Router
Gateway: 172.16.102.1
2. Set Route in external PC
DNS Ser: 127.16.1.19
192.168.1.3 176.16.6.60

Switchport
Slave-Address: 0x1007
v. MAC: -
IP: -
Name: -

03/2011 © EtherCAT Technology Group (128)


EoE Route Configuration

Diagnosis / Configuration EtherCAT Master EtherCAT Slave


with WebServer

Ethernet over EtherCAT (EoE)

IP: 172.16.8.31 IP: 172.16.4.205 IP: 192.168.1.100 IP: 192.168.1.11


Mask: 255.255.0.0 Mask: 255.255.0.0 Mask: 255.255.255.0 Mask: 255.255.255.0

route IP Routing must be route


ADD 192.168.1.0 enabled ADD 172.16.0.0
MASK 255.255.255.0 MASK 255.255.0.0
172.16.4.205 192.168.1.100

Or

Default Gateway:
192.168.1.100

03/2011 © EtherCAT Technology Group (129)


EoE – Support of DHCP, BOOTP

Switchport Switchport Switchport


Slave-Address: 0x0002 Slave-Address: 0x0006 Slave-Address: 0x000A
v. MAC: 02-01-05-10-03-DD v. MAC: 02-01-05-10-03-EC v. MAC: 02-01-05-10-03-BA
IP: 172.16.1.2 IP: 172.16.1.6 IP: 172.16.1.10
Switchport with Subnet: 255.255.0.0 Subnet: 255.255.0.0 Subnet: 255.255.0.0
DHCP Support Gateway: 172.16.1.5 Gateway: 172.16.1.5 Gateway: 172.16.1.5
Name: Labelprinter_2 Name: Labelprinter_6 Name: Labelprinter_10

EoE Init #1 #2 #3 #4 EoE Init #5 #6 #7 #8 EoE Init #9 #10 #11 #12


IPC #2 172.16.1.2 #6 172.16.1.6 #10 172.16.1.10

..
..
DVI
DHCP Resp.
with IP-Address
DHCP Req use: virt. MAC
(BOOTP)

03/2011 © EtherCAT Technology Group (130)


Purpose of Ethernet over EtherCAT (EoE)

EtherCAT Basics
Slave Structure
• Tunnels transparently Ethernet Frames over EtherCAT
Device Model (ISO/OSI)
Physical Layer
• Tunneling reduces the cycle times without restrictions
Data Link Layer and to optimized available bandwidth
Frame Structure
Addressing • Used for devices with TCP/IP stacks (e.g. Web Server)
Commands
Memory/Registers and for infrastructure devices like Switch Terminals
SyncManager
FMMU • Allows to access corresponding devices in the normal IP
Diagnosis
Distributed Clocks
network in combination with a ‘Virtual Ethernet Switch’
Application Layer (Layer 2) on the master side
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (131)


EoE – Switchport: Any Ethernet Protocol

EtherCAT Basics
Slave Structure
• Interface to any Ethernet Device or Network
Device Model (ISO/OSI)
Physical Layer
• Ethernet Frames are inserted into EtherCAT Protocol:
Data Link Layer – ‘Ethernet over EtherCAT’
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
EtherCAT Switchport
FMMU
Diagnosis Ethernet MAC PHY
Distributed Clocks
Application Layer
State Machine
Mailbox RXTX
RX1 RX2 RX3 RX4
µC
Mailbox Interface
EoE Ethernet Fragmentation
CoE CANopen
FoE File Access
Mailbox Process Data
SoE Servo Drive
ESI: Device Description PHY EtherCAT MAC / DLL PHY
SII: Slave Information /IF
TX2
TX3
TX1
Device Profiles TX1
TX3
TX2
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (132)


EoE – Frame Header

EtherCAT Basics 6 Byte 4 Byte Max. 1476 Byte


Slave Structure Mbx Header
Device Model (ISO/OSI) EoE Cmd Cmd specific data
Type = 2 (EoE)
Physical Layer
Data Link Layer
4 Bit 4 Bit 1B 1B 1B 5B 6 Bit 6 Bit 4 Bit
Frame Structure
Addressing Frag. Frame
Type Port LF TA TR res Size
Commands No No
Memory/Registers
SyncManager
FMMU Type EoE Frame Type
Diagnosis 0x00 EoE Fragment Request
Distributed Clocks 0x01 Initiate EoE Request
Application Layer 0x02 IP Parameter Request
State Machine 0x03 IP Parameter Response
Mailbox 0x04 Set MAC Address Filter Request
Mailbox Interface 0x05 Set MAC Address Filter Response
EoE Ethernet
CoE CANopen Port Selected Port
FoE File Access
LF Last fragment
SoE Servo Drive
ESI: Device Description TA Time stamp appended (only if LF=1)
SII: Slave Information /IF
Device Profiles TR Time stamp request
Modular Devices
Fragment No Fragment Number of the Ethernet Frame fragment
Drives
Configuration Tool Size Complete size of Ethernet Frame
EtherCAT Master
Standards&Implementation Frame No Number of the Ethernet Frame

03/2011 © EtherCAT Technology Group (133)


EoE Header

48 Bit 32 Bit

Mailbox Header (Type = 2) EoE Following Data

4 Bit 4 Bit 1 Bit 1 Bit 1 Bit 5 Bit 6 Bit 6 Bit 4 Bit


Type Port LF TA TR Res FragmentNo Offset/BufferSize FrameNo

Must be valid if LF=1 Result (IP and MAC Filter Response)


0 = unspecified
1 = Send/Received on Port 1 Timestamp requested
2 = Send/Received on Port 2
… Timestamp appended (only if LF=1)

0 = Frame Fragments follows FragmentNo = 0: Contains needed buffer size


1 = Time Stamp Response follows FragmentNo > 0: Offset of the fragment
2 = IP Settings Req follows (Multiplied with 32)
3 = IP Settings Res follows
4 = MAC Filter Settings Req follows FrameNo: Increments each new Ethernet Frame
5 = MAC Filter Settings Res follows
6-15 = Reserved Last Fragment: Indicates the last fragment (Type=0 only)

03/2011 © EtherCAT Technology Group (134)


EoE – Frames

EoE (Mbx Type = 2) n * 32 Byte


(except for the last fragment)
32 Bit

Mbx Header EoE Header (Type=0, TA=0) Fragment Data

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

Mbx Header EoE Header (Type = 1) Time Stamp

Mbx Header EoE Header (Type = 2) IP Settings

Mbx Header EoE Header (Type = 3) IP Settings Response

Mbx Header EoE Header (Type = 4) MAC Filter Settings

Mbx Header EoE Header (Type = 5) MAC Filter Settings Response

03/2011 © EtherCAT Technology Group (135)


EoE – IP Address & MAC

EtherCAT Basics
Slave Structure • Set MAC and IP address if EtherCAT device has IP stack
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure • MAC Filter Settings Data Structure:
Addressing
Commands
Used if EtherCAT device acts as bridge (switch)
Memory/Registers
SyncManager
FMMU • Result Values (IP and MAC Filter Settings only):
Diagnosis
Distributed Clocks – 0x0000 No Error
Application Layer
State Machine
– 0x0001 Unspecified Error
Mailbox
Mailbox Interface
– 0x0002 Unsupported Type
EoE Ethernet – 0x0201 No IP Support
CoE CANopen
FoE File Access – 0x0401 No MAC Filter Mask Support
SoE Servo Drive
ESI: Device Description – …
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (136)


EoE – Time Stamp

EtherCAT Basics
Slave Structure • Time Stamp
Device Model (ISO/OSI)
Physical Layer
– 32 Bit Timing information with 1 ns resolution
Data Link Layer – DC System Time if available (Register 910h)
Frame Structure
Addressing
– Time stamp trigger is the beginning of Destination
Commands Address (DA) in the Ethernet Frame
Memory/Registers
SyncManager
FMMU • Time stamp appended (TA = 1)
Diagnosis – Slave to Master:
Distributed Clocks
Application Layer
Time stamp contains exact receive time
State Machine – Master to Slave:
Mailbox Time Stamp contains desired send time
Mailbox Interface
EoE Ethernet – Time stamp extends frame data by 32 Bit
CoE CANopen – TA is allowed in last fragment only (LF = 1).
FoE File Access
If necessary, add additional fragment
SoE Servo Drive
ESI: Device Description • fill the “last” fragment with parts of the Time Stamp
SII: Slave Information /IF (LF=0, TA=0) and send a very last fragment with the
Device Profiles rest of the Time Stamp (LF=1, TA=1)
Modular Devices
Drives – Slave should always append a Time Stamp if it has this
Configuration Tool feature
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (137)


EoE – Time Stamp

EtherCAT Basics
Slave Structure • Time Stamp requested (TR = 1)
Device Model (ISO/OSI)
Physical Layer – Response with the exact send time and the same
Data Link Layer
Frame Structure
FrameNo requested
Addressing
Commands
– Response should be send as soon as possible
Memory/Registers – Can be used for segment to segment synchronization
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (138)


EoE – Error Handling

EtherCAT Basics
Slave Structure
• No special Error Handling required!
Device Model (ISO/OSI)
Physical Layer
• EoE is a Layer 2 Protocol – logical like an Ethernet
Data Link Layer Switch
Frame Structure
Addressing • If a fragment is missing, the whole frame will be
Commands
Memory/Registers discarded
SyncManager
FMMU • Frame loss is recognized at higher levels
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (139)


Purpose of CAN application protocol over
EtherCAT (CoE)
EtherCAT Basics • Recommended protocol for Service Data Access
Slave Structure
Device Model (ISO/OSI) – Configuration of communication parameter
Physical Layer
Data Link Layer – Configuration of device specific parameter
Frame Structure
Addressing
Commands
Memory/Registers
• Easy migration path from CANopen* Devices to EtherCAT CoE
SyncManager Devices
FMMU
Diagnosis – Protocol Stacks can be re-used
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (140)
CAN application protocol over EtherCAT
Device Architecture
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
EtherCAT Device
Data Link Layer
Frame Structure CANopen* Application
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis Object Dictionary Process Data
Distributed Clocks
Application Layer
State Machine Service Data Objects PDO Mapping
Mailbox
Mailbox Interface
CoE CoE
EoE Ethernet
CoE CANopen
FoE File Access Mailbox Process Data
SoE Servo Drive
ESI: Device Description EtherCAT Slave Controller
SII: Slave Information /IF
Device Profiles
Modular Devices Ethernet Physical Layer
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (141)
CoE –Frame Header

EtherCAT Basics 6 Byte 2 Byte Max. 1478 Byte


Slave Structure Mbx Header
Device Model (ISO/OSI) CoE Cmd Cmd specific data
Type = 3 (CoE)
Physical Layer
Data Link Layer
9 Bit 3 Bit 4 Bit
Frame Structure
Addressing Number res Type
Commands
Memory/Registers
SyncManager
FMMU Number PDO Number (PDO transfer only)
Diagnosis
Distributed Clocks Type Message Type
Application Layer 0 reserverd
State Machine 1 Emergency Message
Mailbox 2 SDO Request
Mailbox Interface 3 SDO Response
EoE Ethernet 4 TxPDO
CoE CANopen 5 RxPDO
FoE File Access 6 Remote transmission request of TxPDO
SoE Servo Drive 7 Remote transmission request of RxPDO
ESI: Device Description 8 SDO information
SII: Slave Information /IF 9-15 reserved for future use
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (142)


CAN application profile over EtherCAT (CoE)

EtherCAT Basics
Slave Structure • SDO: Access to a CANopen* object dictionary ✔
Device Model (ISO/OSI)
Physical Layer – Download and Upload of parameters
Data Link Layer
Frame Structure – Standard Process Data Mapping (PDO Mapping)
Addressing
Commands – Full Access to CANopen* Profiles
Memory/Registers
SyncManager
FMMU
• PDO: Process Data Objects (over CoE!) ✔
Diagnosis
Distributed Clocks – Direct PDO transfer
Application Layer
State Machine – Remote Transmission Requests of PDOs
Mailbox
Mailbox Interface • Emergency Messages ✔ (not used)
EoE Ethernet
CoE CANopen Standard CANopen* Features
FoE File Access
SoE Servo Drive
ESI: Device Description • + Object Dictionary Information (SDO Information)
SII: Slave Information /IF
Device Profiles – Upload of object dictionary (identifier lists)
Modular Devices
Drives – Upload of object description
Configuration Tool
EtherCAT Master
– Upload of entry descriptions
Standards&Implementation

03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (143)
CoE – Standard CANopen* Frames

EtherCAT Basics 6 Byte 2 Byte Max. 1478 Byte


Slave Structure Mbx Header
Device Model (ISO/OSI) CoE Cmd Cmd specific data
Type = 3 (CoE)
Physical Layer Typ = 2 or 3
Data Link Layer
8 Bit 16 Bit 8 Bit 32 Bit 1 .. 1470 Byte
Frame Structure
Addressing SDO Data
Index Subindex Data
Commands Control (optional)
Memory/Registers
SyncManager
FMMU Standard CANopen* Frame
Diagnosis
Distributed Clocks
Application Layer
SDO Control Standard CANopen* SDO Services
State Machine
Mailbox Index Object Addressing by Index …
Mailbox Interface
EoE Ethernet Subindex … and Subindex
CoE CANopen
Data Data for the SDO-Service
FoE File Access
SoE Servo Drive Data (optional) Optionally more than 4 bytes of data can be sent
ESI: Device Description with one frame.
SII: Slave Information /IF
Full mailbox size usable
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (144)
Object Dictionary – Example CoE Drive

EtherCAT Basics Parameter list


Slave Structure Name Index Typ Subindex (SI)
Device Model (ISO/OSI)
Physical Layer Controlword 0x6040 Variable No Subindex available
Data Link Layer Statusword 0x6041
Frame Structure Target position 0x607A
Addressing
Target velocity 0x60FF
Commands
Position actual value 0x6064 Number of SIs 0x607B SI0
Memory/Registers
SyncManager EtherCAT Position Range limit 0x607B Array Min Pos. Range limit 0x607B SI1
FMMU Modes of operation 0x6060 Max Pos. Range limit 0x607B SI2
Read: 0x1018,
0x6061
"Modes of
03operation display"
Diagnosis Modes of operation display 0x6061
Distributed Clocks Following error actual value 0x60F4
Application Layer
Following error window 0x6065
State Machine
Gear Ratio 0x6091
Mailbox
Mailbox Interface Number of SIs 0x1018 SI0
EoE Ethernet
Device Type 0x1000 Vendor ID 0x1018 SI1
CoE CANopen
Identity object 0x1018 Record Product Code 0x1018 SI2
FoE File Access
SoE Servo Drive Revision Number 0x1018 SI3
ESI: Device Description Serial Number 0x1018 SI4
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (145)


Object Dictionary – Example CoE Drive

EtherCAT Basics Parameter list


Slave Structure Name Index
Device Model (ISO/OSI)
Physical Layer Controlword 0x6040
Data Link Layer Statusword 0x6041
Frame Structure Target position 0x607A
Addressing
Target velocity 0x60FF
Commands
Position actual value 0x6064
Memory/Registers
SyncManager EtherCAT Position Range limit 0x607B
FMMU Modes of operation 0x6060
Diagnosis Cyclic Outputs Modes of operation display 0x6061
Distributed Clocks Following error actual value 0x60F4
Application Layer
Following error window 0x6065
State Machine
Gear Ratio 0x6091
Mailbox
Mailbox Interface
EoE Ethernet
Device Type 0x1000
CoE CANopen
Identity object 0x1018
FoE File Access No of SI's = 3
SoE Servo Drive
ESI: Device Description
Process Data Info 1st RxPDO = 0x6040 00 10

SII: Slave Information /IF Output Mapping (RxPDO) 0x1600 Record 2nd RxPDO = 0x60FF 00 20
Device Profiles assembly of 3rd RxPDO = 0x6060 00 10
Modular Devices RxPDO
Drives
Configuration Tool Index Subindex Bitlength
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (146)


Object Dictionary – Example CoE Drive

EtherCAT Basics Parameterlist


Slave Structure Name Index
Device Model (ISO/OSI)
Physical Layer Controlword 0x6040
Data Link Layer Statusword 0x6041
Frame Structure Target position 0x607A
Addressing
Target velocity 0x60FF
Commands
Position actual value 0x6064
Memory/Registers
SyncManager EtherCAT Position Range limit 0x607B
FMMU Modes of operation 0x6060
Diagnosis Cyclic Inputs Modes of operation display 0x6061
Distributed Clocks Following error actual value 0x60F4
Application Layer
Following error window 0x6065
State Machine
Gear Ratio 0x6091
Mailbox
Mailbox Interface
EoE Ethernet
Device Type 0x1000
CoE CANopen
Identity object 0x1018
FoE File Access
SoE Servo Drive
ESI: Device Description
Process Data Info No of SI's = 3

SII: Slave Information /IF Output Mapping (RxPDO) 0x1600 1st TxPDO = 0x6041 00 10
Device Profiles Input Mapping (TxPDO) 0x1A00 Record 2nd RxPDO = 0x6064 00 20
assembly of
Modular Devices 3rd RxPDO = 0x6061 00 10
TxPDO
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (147)


Addressing through DL and AL
SDO Access: Download Request

EtherCAT Basics
Slave Structure Add = 1 Add = 2 Add = 3
IPC
Device Model (ISO/OSI)
Physical Layer
Data Link Layer CoE Object Dictionary
Frame Structure
Addressing 0x6091:01 Gear Ratio
..
.. DVI …
Commands
0x607A:00 Target Position
Memory/Registers …
AL
SyncManager CoE
FMMU
Diagnosis
Distributed Clocks
Application Layer Mailbox Process Data
State Machine
Mailbox
DL ESC Address Space (DPRAM)
0x1000 0x1100
Mailbox Interface
EoE Ethernet SynMan0 SyncMan1 SyncMan2 SyncMan3
CoE CANopen
FoE File Access
FMMU FMMU n
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF Ethernet ECAT ECAT Add SDO Sub

WKC
Add Mbx Hdr CoE Cmd Index Data FCS
Device Profiles HDR HDR Cmd Offset Control index
Modular Devices
Drives FPWR 3 1000 Type=3 0x6091 1 Gear
Configuration Tool (CoE) Download Req ratio
EtherCAT Master
Standards&Implementation SDO Request

03/2011 © EtherCAT Technology Group (148)


Addressing through DL and AL
SDO Access: Download Response

EtherCAT Basics
Slave Structure Add = 1 Add = 2 Add = 3
IPC
Device Model (ISO/OSI)
Physical Layer
Data Link Layer CoE Object Dictionary
Frame Structure
Addressing 0x6091:01 Gear Ratio
..
.. DVI …
Commands
0x607A:00 Target Position
Memory/Registers …
AL
SyncManager CoE
FMMU
Diagnosis
Distributed Clocks
Application Layer Mailbox Process Data
State Machine
Mailbox
DL ESC Address Space (DPRAM)
0x1000 0x1100
Mailbox Interface
EoE Ethernet SynMan0 SyncMan1 SyncMan2 SyncMan3
CoE CANopen
FoE File Access
FMMU FMMU n
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF Ethernet ECAT ECAT Add SDO Sub

WKC
Add Mbx Hdr CoE Cmd Index res FCS
Device Profiles HDR HDR Cmd Offset Control index
Modular Devices
Drives FPRD 3 1100 Type=3 0x6091 1
Configuration Tool (CoE) Download Resp.
EtherCAT Master
Standards&Implementation SDO Response

03/2011 © EtherCAT Technology Group (149)


Addressing through DL and AL (PDO Access)

EtherCAT Basics
Slave Structure Add = 1 Add = 2 Add = 3
IPC
Device Model (ISO/OSI)
Physical Layer
Data Link Layer CoE Object Dictionary
Frame Structure
Addressing
0x6091:01 Gear Ratio
..
.. DVI
Commands
Memory/Registers
0x607A:00 Target Position
SyncManager
AL 0x1600 Mapping&Assign
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine Mailbox Process Data
Mailbox
Mailbox Interface DL ESC Address Space (DPRAM)
EoE Ethernet 0x1000 0x1800
CoE CANopen SyncMan0 SyncMan1 SyncMan2 SyncMan3
FoE File Access
SoE Servo Drive FMMU FMMU n
ESI: Device Description Log Address = 10.000
SII: Slave Information /IF
Device Profiles
Modular Devices
Ethernet ECAT ECAT

WKC
Drives Log Add Processdata FCS
HDR HDR Cmd
Configuration Tool
EtherCAT Master Raw data
LWR 10.000
Standards&Implementation

03/2011 © EtherCAT Technology Group (150)


Example: ‘Initiate SDO Download’ Request

EtherCAT Basics
Slave Structure Mailbox Size the original
Device Model (ISO/OSI)
Physical Layer
CANopen* Protocol
6 Byte 2 Byte 8 Byte
Data Link Layer (CiA DS301)
Frame Structure Mailbox Header CoE SDO Data (optional)
Addressing
Commands
Length of Mbx Service Data
Memory/Registers
SyncManager 16 Bit 8 Bit 32 Bit
FMMU
Diagnosis 0-4 Bytes I E Size C Ccs Index Sub Data
0 1 2 4 5 8 24 32 63
Distributed Clocks
Application Layer Expedited 1 1 4-n 0 1 = Initiate SDO Download Request

State Machine
Mailbox > 4 Bytes I E Size C Ccs Index Sub Complete Size Data 0-n
0 1 2 4 5 8 24 32 64
Mailbox Interface
EoE Ethernet 0 0 0 0 1
CoE CANopen
Data > Mailbox: ‘Download SDO Segment’ follows
FoE File Access
SoE Servo Drive
ESI: Device Description
> 7 Bytes L Size T Ccs Data 0-6 Data 7-n
0 1 4 5 8 64
SII: Slave Information /IF left
Device Profiles 0/1 0 0/1 0 = Download SDO Segment Request
Modular Devices
<= 7 Bytes
Drives L Size T Ccs Data 0-n
0 1 4 5 8 63
Configuration Tool
EtherCAT Master
0/1 7-n 0/1 0
Standards&Implementation

03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (151)
SDO Download Services differences

EtherCAT Basics
Slave Structure Expedited Normal Segmented
Device Model (ISO/OSI)
Service Service Service
Physical Layer
Data Link Layer Mbx Header Mbx Header Mbx Header
MBX Size
CoE CoE CoE
Frame Structure
Data <= 4 Byte 4Byte < Data < MBX size* Data > MBX size*
Addressing Mailbox
Commands
Memory/Registers
SyncManager Mbx Header
CoE
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine Mbx Header
Mailbox CoE

Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access Mbx Header
SoE Servo Drive CoE
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation *MBX size = Mbx size – Mbx-Header – CoE-cmd – SDO-Cntrl – Index - Subindex

03/2011 © EtherCAT Technology Group (152)


Example: Expedited Download

Client Server

SDO Downl. Expedited Req:


Size Indic. = 1 SDO Download Res.
Transfer Type = 1 (Expedited), Size Indic. = 0
Data Set Size = 0..3 Transfer Type = 0,
Datablock
Mailbox

Cmd = 0x01 (Dwnl. Req.) Cmd = 0x03 (Dwnl. Res.)


Index, Subindex Index, Subindex
Data

03/2011 © EtherCAT Technology Group (153)


Example: Normal Download

Client Server

SDO Downl. Normal Req:


Mailbox
Datablock

Size Indic. = 1 SDO Download Res.


Data

Transfer Type = 0 (Normal) Size Indic. = 0


Data Set Size = 0 Transfer Type = 0,
Cmd = 0x01 (Dwnl. Req.) Cmd = 0x03 (Dwnl. Res.)
Index, Subindex Index, Subindex
Complete Size
Data

03/2011 © EtherCAT Technology Group (154)


Example: Segmented Download

Client Server

SDO Downl. Normal Req:


Mailbox

Size Indic. = 1 SDO Download Res.


Transfer Type = 0 (Normal), Size Indic. = 0
Data

Cmd = 0x01 (Dwnl. Req.) Transfer Type = 0 (Normal),


Index, Subindex Cmd = 0x03 (Dwnl. Res.)
Complete Size Index, Subindex
Data

SDO Downl. Segment Req:


Datablock

Mailbox

More Follows = 0 SDO Download Seg. Res.


Seg. Data Size = 0 Toggle
Toggle Cmd = 0x01 (Dwnl. Seg. Res.)
Cmd = 0x00 (Dwnl. Seg. Req.)
Data

SDO Downl. Segment Req:


More Follows = 1 (last) SDO Download Seg. Res.
Mailbox

Cmd = 0x00 (Dwnl. Seg. Req.) Toggle


Seg. Data Size = 0 Cmd = 0x01 (Dwnl. Seg. Res.)
Toggle
Data

03/2011 © EtherCAT Technology Group (155)


Optional SDO Extensions to CANopen* DS 301

EtherCAT Basics • Breaking of the 8 byte border


Slave Structure
Device Model (ISO/OSI) – Full mailbox size usable
Physical Layer Block transfer unnecessary
Data Link Layer
Frame Structure – ‘Initiate SDO Download’ request /
Addressing ‘SDO Upload’ response can contain data after SDO header
Commands
Memory/Registers – ‘Download SDO Segment’ request /
SyncManager ‘Upload SDO Segment’ response can contain more than 7
FMMU
Diagnosis bytes of data
Distributed Clocks
Application Layer
State Machine
Mailbox
• Downloading and Uploading all Subindices at once
Mailbox Interface – Bit 4 of the Initiate ‘SDO Download / Upload’ request
EoE Ethernet
CoE CANopen
header indicates a ‘Complete Access’ to an Index
FoE File Access – Sub Index field contains the start Subindex
SoE Servo Drive
ESI: Device Description
• 0: Complete Index with all Subindices
SII: Slave Information /IF • 1: Complete Index without Subindex 0
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (156)
CoE – Optional SDO Information Protocol

EtherCAT Basics
Slave Structure
• Access to object lists
Device Model (ISO/OSI) – list of all supported object identifiers
Physical Layer
Data Link Layer – list of all object identifiers that can be mapped in PDOs
Frame Structure
Addressing – list of all object identifiers that should be included in a
Commands
backup
Memory/Registers
SyncManager
FMMU
• Access to object descriptions
Diagnosis – Descriptions of objects – as defined in DS 301
Distributed Clocks
Application Layer • Access to entry descriptions
State Machine
Mailbox – Descriptions of object entries (sub index) – as defined in DS
Mailbox Interface
EoE Ethernet
301
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (157)


CoE – Object Dictionary

EtherCAT Basics
Slave Structure
• Devices with an EtherCAT-CoE and a CANopen*
Device Model (ISO/OSI) interface are possible with the same object dictionary
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
Index Range Meaning
SyncManager
FMMU
0x0000 – 0x0FFF Data Type Description
Diagnosis 0x1000 – 0x1FFF Communication objects
Distributed Clocks
• Device Type, Identity, PDO Mapping – like defined in DS 301
Application Layer
State Machine • Objects defined in DS 301 not needed are reserved for EtherCAT
Mailbox • Additional objects (Sync Manager Communication Type, Sync
Mailbox Interface Manager PDO Assignment) located in unused areas of DS 301
EoE Ethernet
CoE CANopen 0x2000 – 0x5FFF Manufacturer specific
FoE File Access
SoE Servo Drive
0x6000 – 0x9FFF Profile specific
ESI: Device Description
0xA000 – 0xFFFF reserved
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (158)
CoE – Online Object Dictionary
D e mo
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (159)


CoE – New objects for EtherCAT

EtherCAT Basics
Slave Structure Index Meaning
Device Model (ISO/OSI)
0x1C00 SyncManager Communication Type
Physical Layer
Data Link Layer 0x1C10 – 0x1C2F SyncManager PDO Assign
Frame Structure
Addressing 0x1C30 – 0x1C4F SyncManager Parameter
Commands
Memory/Registers • SyncManager Communication Type
SyncManager – Subindex (1-32) defines communication type of the corresponding Sync
FMMU Manager channel
Diagnosis
• Mailbox Out (= 1 buffer write)
Distributed Clocks
Application Layer • Mailbox In (= 1 buffer read)
State Machine • Process Data Out (= 3 buffer write)
Mailbox • Process Data In (= 3 buffer read)
Mailbox Interface
EoE Ethernet
• SyncManager PDO Assign
CoE CANopen – Contains a list of assigned PDOs for each Sync Manager channel
FoE File Access (Index of PDO mapping objects)
SoE Servo Drive – Assigned PDO in Subindex 1 to n describe the process data parts of the Sync
ESI: Device Description Manager channel
SII: Slave Information /IF
Device Profiles
• SyncManager Parameter
Modular Devices – SubIdx 1: Synchronization type
Drives (Freerun, synchron, DC Sync0, DC Sync1, SyncSm0 .. SyncSm1F)
Configuration Tool – SubIdx 2: Cycle time
EtherCAT Master
– SubIdx 3: Shift time
Standards&Implementation

03/2011 © EtherCAT Technology Group (160)


CoE – PDO Process Data mapping

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
• No mapping protocol implemented for very simple devices
Physical Layer – Fixed process data
Data Link Layer
Frame Structure – Readable via EEPROM – no SDO protocol necessary
Addressing
Commands • Readable PDO Mapping
Memory/Registers
SyncManager – Fixed process data mapping
FMMU
Diagnosis – Readable via SDO
Distributed Clocks
Application Layer
• Selectable PDO Mapping
State Machine
Mailbox
– Multiple fixed PDO – selectable via CoE object (1C1xh)
Mailbox Interface – Selectable via SDO (required)
EoE Ethernet
CoE CANopen • Variable PDO Mapping
FoE File Access
SoE Servo Drive – Configurable via CoE or SoE required
ESI: Device Description
SII: Slave Information /IF – Writable PDO content
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (161)


CoE – PDO Configuration
D e mo
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (162)


CoE – Emergency Message

EtherCAT Basics 6 Bytes 2 Bytes 2 Bytes 1 Byte 5 Bytes 1..n Bytes


Slave Structure
Device Model (ISO/OSI) Mailbox Header
CoE Header
ErrorCode Error Register Data Data
Physical Layer (Type = 1)
Data Link Layer
Frame Structure Mandatory Header Standard CANopen* Emergency frame optional
Addressing
Commands
Memory/Registers • Standard CANopen* Emergency frames can be used
SyncManager
FMMU • More than 5 bytes of data can be send optionally with
Diagnosis
Distributed Clocks one frame
Application Layer
State Machine
Mailbox
Mailbox Interface • New: Diagnosis Object
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (163)
File Access over EtherCAT (FoE)

EtherCAT Basics • Similar to TFTP (Trivial File Transfer Protocol, RFC 1350)
Slave Structure
Device Model (ISO/OSI)
Physical Layer • Simple to implement – suitable for bootstrap loaders
Data Link Layer
Frame Structure
Addressing • 6 Services are defined:
Commands
Memory/Registers
– WRQ: Write request with “file name”
SyncManager – RRQ: Read request with “file name”
FMMU
Diagnosis
– DATA: Data block (full mailbox size used)
Distributed Clocks – ACK: Acknowledgment of DATA and WRQ requests
Application Layer
State Machine
– ERR: Error notification with predefined error codes
Mailbox – BUSY: Busy notification in case of longer procedures,
Mailbox Interface extension to TFTP (e.g. erasing of flash
EoE Ethernet
CoE CANopen
modules)
FoE File Access
SoE Servo Drive
ESI: Device Description
• Special mailbox configuration for bootstrap mode possible
SII: Slave Information /IF – Fixed addresses and fixed size of the mailbox
Device Profiles
Modular Devices
– Configuration defined by device (EEPROM)
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (164)


File Access over EtherCAT (WRQ, normal)

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI) Master Slave
Physical Layer
Data Link Layer WRQ (with file name)
Frame Structure
Addressing
Commands
ACK (packet no 0)
Memory/Registers
SyncManager DATA (packet no 1, full mailbox)
FMMU
Diagnosis ACK (packet no 1)
Distributed Clocks
Application Layer
State Machine DATA (packet no 2, full mailbox)
Mailbox
Mailbox Interface ACK (packet no 2)
EoE Ethernet
CoE CANopen
DATA (packet no 3, less data or zero data)
FoE File Access
SoE Servo Drive
ESI: Device Description ACK (packet no 3)
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (165)


File Access over EtherCAT (WRQ, with busy)

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI) Master Slave
Physical Layer
Data Link Layer WRQ (with file name)
Frame Structure
Addressing ACK (packet no 0)
Commands
Memory/Registers DATA (packet no 1, full mailbox)
SyncManager
FMMU ACK (packet no 1)
Diagnosis
Distributed Clocks DATA (packet no 2, less data or zero
Application Layer
State Machine
data)
BUSY (X of N done)
Mailbox
Mailbox Interface
EoE Ethernet
DATA (packet no 2, less data or zero data)
CoE CANopen
FoE File Access
BUSY (Y of N done)
SoE Servo Drive
ESI: Device Description
DATA (packet no 2, less data or zero data)
SII: Slave Information /IF
Device Profiles
ACK (packet no 2)
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (166)


File Access over EtherCAT (WRQ, with error)

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer Master Slave
Data Link Layer
Frame Structure WRQ (with file name)
Addressing
Commands ERR (error code and optional error text)
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (167)


File Access over EtherCAT (RRQ, normal)

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI) Master Slave
Physical Layer
Data Link Layer RRQ (with file name)
Frame Structure
Addressing DATA (packet no 1, full mailbox)
Commands
Memory/Registers
SyncManager
ACK (packet no 1)
FMMU
Diagnosis DATA (packet no 2, full mailbox)
Distributed Clocks
Application Layer
ACK (packet no 2)
State Machine
Mailbox
Mailbox Interface DATA (packet no 3, less data or zero data)
EoE Ethernet
CoE CANopen ACK (packet no 3)
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (168)


Servo Drive over EtherCAT (SoE)

EtherCAT Basics • Implements Service Channel


Slave Structure
Device Model (ISO/OSI) – Read / Write to several elements of an IDN (Ident number)
Physical Layer
Data Link Layer – Support of Procedure Commands
Frame Structure
Addressing – Slave Info
Commands
Memory/Registers
SyncManager • The mapping of the IEC 61800-7-1 Annex D (SERCOS™) on
FMMU
Diagnosis EtherCAT is described in IEC 61800-7-3 Annex D
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (169)


SoE – Frame Header

EtherCAT Basics 6 Byte 4 Byte Max. 1476 Byte


Slave Structure Mbx Header
Device Model (ISO/OSI) SoE Cmd Cmd specific data
Type = 5 (SoE)
Physical Layer
Data Link Layer
3 Bit 1 Bit 1 Bit 3 Bit 8 Bit 16 Bit
Frame Structure
Addressing Cmd Incomp Err Drive Element IDN
Commands
Memory/Registers
SyncManager
FMMU Command Command Type
Diagnosis Read Request, Read Response, Write Request, Write Response, Notification, SlaveInfo
Distributed Clocks
Application Layer Incomplete Indicates if execution of another service is needed to complete
State Machine the operation
Mailbox
Mailbox Interface Error Indicates if an Error has occurred
EoE Ethernet
Drive Contains the address of the drive inside the slave device that is
CoE CANopen
FoE File Access addressed
SoE Servo Drive
Element Contains the ElementFlags. There is a single Flag for each
ESI: Device Description
SII: Slave Information /IF element of an IDN indicating which elements of the object
Device Profiles addressed by the IDN are accessed
Modular Devices
IDN contains IDN according to IEC 61800-7-2 Annex D
Drives
Configuration Tool or an indicator for fragments left in case of segmented service
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (170)


SoE Communication phases

EtherCAT Basics IEC 61784


Slave Structure EtherCAT CPF 16
Device Model (ISO/OSI)
Physical Layer
Init Phase 0 / 1
Data Link Layer
Frame Structure (IP) (PI)
Addressing
Commands
Memory/Registers Pre-Operational (SI) Phase 2
SyncManager
FMMU (OI) (PS) (SP)
Diagnosis (S-0-0127)
Distributed Clocks (OP)
Safe-Operational Phase 3
Application Layer (with Inputs)
State Machine
(SO) (OS)
Mailbox
(S-0-0128)
Mailbox Interface
EoE Ethernet Operational Phase 4
CoE CANopen
FoE File Access
SoE Servo Drive • SERCOS communication phases (CPs) comparable to EtherCAT state machine
ESI: Device Description • Phases 0 and 1 covered by the ‘Init’
SII: Slave Information /IF • Phase 2 corresponds to ‘Pre-Operational’
Device Profiles • allows access to the IDNs via ‘service channel’ (SoE).
Modular Devices
• Phase 3 mapped to ‘Safe-Operational’
Drives
Configuration Tool
• slave shall transmit valid inputs, ignore outputs from the master.
EtherCAT Master • ‘Operational’ corresponds to phase 4
Standards&Implementation • all inputs and outputs are valid.

03/2011 © EtherCAT Technology Group (171)


Obsolete IDN

EtherCAT Basics
Slave Structure IDN Description
Device Model (ISO/OSI)
Physical Layer S-0-0003 Minimum AT transmit starting time (T1min)
Data Link Layer
Frame Structure
S-0-0004 Transmit/receive transition time (TATMT)
Addressing
Commands
Memory/Registers S-0-0005 Minimum feedback acquisition time (T4min)
SyncManager
FMMU S-0-0009 Beginning address in master data telegram (MDT POS)
Diagnosis
Distributed Clocks
Application Layer
S-0-0010 Length of master data telegram (MDT LEN)
State Machine
Mailbox S-0-0088 Receive to receive recovery time (TMTSG)
Mailbox Interface
EoE Ethernet S-0-0090 Command value transmit time (TMTSG)
CoE CANopen
FoE File Access
SoE Servo Drive S-0-0127 C100 Communication phase 3 transition check
ESI: Device Description Functionality done in EtherCAT transition from ‘Pre-Operational’ to ‘Safe-Operational’.
SII: Slave Information /IF If the transition fails, the reason for this failure can be evaluated via S-0-0021.
Device Profiles
Modular Devices S-0-0128 C200 Communication phase 4 transition check
Drives Functionality done in EtherCAT transition from ‘Safe-Operational’ to ‘Operational’. If the
Configuration Tool transition fails, the reason for this failure can be evaluated via S-0-0022.
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (172)


Changed IDN

EtherCAT Basics
Slave Structure IDN Meaning with SoE
Device Model (ISO/OSI)
Physical Layer S-0-0006 AT Transmission starting time (T1)
Data Link Layer T1 specifies the time offset from the EtherCAT sync signal to the time until the
Frame Structure application shall provide new AT data inside the EtherCAT slave controller memory.
Addressing
Commands S-0-0014 Interface status
Memory/Registers This parameter should reflect DL status, AL status and AL status code of EtherCAT
SyncManager
FMMU S-0-0028 MST error counter
Diagnosis MST error counter indicates missing Datagrams for cyclic data transfers
Distributed Clocks This parameter should reflect RX-error counter and Lost-link counter of EtherCAT
Application Layer
State Machine
Mailbox S-0-0089 MDT Transmit starting time (T2)
Mailbox Interface T2 specifies the time offset from the EtherCAT sync signal to the time until new MDT
EoE Ethernet data are available inside the EtherCAT slave controller memory.
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (173)


Synchronization Mapping

EtherCAT Basics
Slave Structure • CPF16 Phase 0-2
Device Model (ISO/OSI)
Physical Layer • No synchronisation between master and slave.
Data Link Layer
Frame Structure • Service channel communication via EtherCAT mailbox.
Addressing
Commands
Memory/Registers
SyncManager • CPF16 Phase 3-4
FMMU
Diagnosis • Synchronisation via ‘Distributed Clock’ (DC) or by Sync
Distributed Clocks
Application Layer Manager event.
State Machine
Mailbox • Master configures the DC unit to generate a sync event.
Mailbox Interface
EoE Ethernet • The sync event is set typically at the end of
CoE CANopen
FoE File Access
communication (Sync Manager event operates in the
SoE Servo Drive same way).
ESI: Device Description
SII: Slave Information /IF • The sync signal compares to the end of MST telegram as
Device Profiles
Modular Devices defined in SERCOS part of IEC 61158-6.
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (174)


Process Data Mapping

EtherCAT Basics
Slave Structure
• Sync Manager 2 for Output Data
Device Model (ISO/OSI) buffered mode, contains MDT data
Physical Layer
Data Link Layer • Sync Manager 3 for Input Data
Frame Structure
Addressing mailbox mode, contains AT data
Commands
Memory/Registers
SyncManager
FMMU • MDT, AT configured via S-0-0015, S-0-0016 and S-0-
Diagnosis
Distributed Clocks
0024.
Application Layer
State Machine
• Process data consists of drive control/status word
Mailbox followed by S-0-0015, S-0-0016, S-0-0024 defined
Mailbox Interface
EoE Ethernet values.
CoE CANopen
FoE File Access • Service channel data not included in process data.
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (175)


Service Channel

EtherCAT Basics
Slave Structure
• SoE Service Channel (SSC) equivalent to SERCOS
Device Model (ISO/OSI) Service Channel (SVC) for non-cyclic data exchange.
Physical Layer
Data Link Layer • Implemented as mailbox with the SoE protocol type
Frame Structure
Addressing allows to access IDNs and their elements.
Commands
Memory/Registers • Transfer of multiple elements of an IDN is possible.
SyncManager
FMMU • SSC uses
Diagnosis
Distributed Clocks
– confirmed services (Write, Read, Procedure Command)
Application Layer - initiated by the Master (Client),
State Machine
Mailbox – unconfirmed services (Abort SSC Command Execution,
Mailbox Interface
EoE Ethernet
Write SSC Fragment
CoE CANopen - initiated by the Master
FoE File Access
SoE Servo Drive – unconfirmed services (Read SSC Fragment,
ESI: Device Description Notify SSC Command Execution, SSC Slave Info)
SII: Slave Information /IF
Device Profiles - initiated by the Slave (server).
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (176)


EtherCAT Slave Information (ESI)
Device Description Overview
D e mo
EtherCAT Basics • Device Description File in XML format
Slave Structure
Device Model (ISO/OSI) • One file suitable for a set of devices (from one Vendor)
Physical Layer
Data Link Layer
Frame Structure • File contains information about:
Addressing
Commands – Vendor
Memory/Registers
SyncManager
• Vendor ID, Name, Logo, …
FMMU – Device groups
Diagnosis
Distributed Clocks • Organization units to help configuration tools
Application Layer
State Machine
– Device
Mailbox • Device Identity, Name, PDI type
Mailbox Interface
EoE Ethernet – PDO Mapping
CoE CANopen
FoE File Access
– FMMU / SyncManager
SoE Servo Drive • number and usage
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
• Schema is defined in “EtherCATInfo.xsd”
Drives • Can be viewed with Browser, Text Editor or XML Editors
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (177)


General Structure

EtherCAT Basics
Slave Structure
ID
Device Model (ISO/OSI) Name
Physical Layer
Data Link Layer Vendor Comment Type
Frame Structure Image
Addressing Name
Commands Vendor Spec Group Type
Memory/Registers
EtherCATInfo.xsd Profile
SyncManager
FMMU
Fmmu
Diagnosis
Distributed Clocks
Groups Sm
Application Layer
State Machine Description Su
Mailbox RxPdo
Mailbox Interface
EoE Ethernet Devices TxPdo
CoE CANopen Mailbox
FoE File Access
SoE Servo Drive Dc
ESI: Device Description Modules Slots
SII: Slave Information /IF
Device Profiles ESC
Modular Devices
Drives
Eeprom
mantadory
Configuration Tool Vendor Spec
EtherCAT Master optional
Standards&Implementation ….

03/2011 © EtherCAT Technology Group (178)


Attributes Vendor, Groups, Devices

EtherCAT Basics ID ID
Type
Type
Slave Structure
Device Model (ISO/OSI)
• Vendor Vendor
Vendor
Name
Name
Comment
Comment
Name
Name
Groupe
Groupe Type
Type
Image
Physical Layer Image Profile

Data Link Layer


– vendor ID, vendor name EtherCATInfo.xsd
EtherCATInfo.xsd Vendor Spec
Vendor Spec
Profile
Fmmu
Fmmu
SmSm
Frame Structure Groups

Addressing
– Bitmap image and information text Description
Description
Groups SuSu
RxPdo
RxPdo
Devices
Devices TxPdo
TxPdo
Commands
Memory/Registers • Groups Mailbox
Mailbox
DcDc
SyncManager Modules
Modules

FMMU – Device groups help configuration tool to sort the ESC


ESC
ESC
ESC
Diagnosis
Distributed Clocks
devices. Eeprom
Eeprom
Vendor Spec
Vendor Spec

Application Layer ….….

State Machine
– Configuration tool may use three levels to sort
Mailbox devices: vendor, group and device.
Mailbox Interface
EoE Ethernet – At least one device group must be provided, each
CoE CANopen
FoE File Access device is assigned to one group
SoE Servo Drive
ESI: Device Description • Devices
SII: Slave Information /IF
Device Profiles
– Device description shall contain Type, Name and Group
Modular Devices Type
Drives
Configuration Tool – FMMU, SM, PDO, Mailbox and Eeprom are
EtherCAT Master
Standards&Implementation
recommended
03/2011 © EtherCAT Technology Group (179)
Attributes Profile

EtherCAT Basics ID
Type
Slave Structure Name
Name
Vendor
Device Model (ISO/OSI) Comment
Groupe Type
Physical Layer • Profile Image Profile
EtherCATInfo.xsd Vendor Spec Fmmu
Data Link Layer
Frame Structure – Profile Information Groups
Sm
Su
Description
Addressing RxPdo

Commands – Object Dictionary Devices TxPdo


Mailbox
Memory/Registers
SyncManager – Same Structure for CoE and SoE Dictionaries Dc
Modules
ESC
FMMU
ESC
Diagnosis Eeprom
Distributed Clocks Vendor Spec

Application Layer
State Machine
• Separation of Object and Data Type descriptions ….

Mailbox
Mailbox Interface
– Flat list of Objects
EoE Ethernet
CoE CANopen
– All Objects derived from a Data Type
FoE File Access
SoE Servo Drive
– ARRAY, RECORD (CoE) and Variable Data (SoE)
ESI: Device Description defined as Data Types
SII: Slave Information /IF
Device Profiles – Data Type describes the complete data of an object
Modular Devices
Drives exactly as for a “Complete Access” download or upload
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (180)


Data Types and Objects

EtherCAT Basics
Slave Structure
Element “Profile“
Device Model (ISO/OSI)
Physical Layer Element “Data Type“
Data Link Layer
Frame Structure
Addressing
Commands Data Type
Memory/Registers “STRING(20)“
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet Element “Object“
CoE CANopen
FoE File Access
SoE Servo Drive Object “Device Name“
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (181)


Extended Device Description

EtherCAT Basics • EtherCAT Device Description contains information about the vendor
Slave Structure
Device Model (ISO/OSI)
and the functionality of a device
Physical Layer – This XML-Description can be used by EtherCAT Configurators to
Data Link Layer
configure the device and the network
Frame Structure
Addressing – Specification is fixed in an XSD-Schema
Commands
Memory/Registers
SyncManager • Defined Extensions
FMMU
Diagnosis – Support of Modular Devices
Distributed Clocks
Application Layer
• Module-Descriptions are selectable in the EtherCAT
State Machine Configurator
Mailbox
• Slot-Descriptions for PDO Numbers and Object Indexes
Mailbox Interface
EoE Ethernet depend on module position
CoE CANopen
– OP-Modes
FoE File Access
SoE Servo Drive • Predefined Operation Modes
ESI: Device Description
SII: Slave Information /IF
• How to configure the synchronization modes
Device Profiles – Supporting Safety-Device-Description
Modular Devices
Drives – Multi language support
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (182)


Extended Device Description

EtherCAT Basics • Module definition


Slave Structure
Device Model (ISO/OSI) – With RxPDO/TxPDO and profile information (Object dictionary)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer • Slots describe the allowed combination of the modules
State Machine
Mailbox
– Adaption of PDO Numbers and Object Indexes depend on module
Mailbox Interface position
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (183)


Modules

Element (Attribute) Description


(CRC32) Checksum of the Modules description

Type (ModuleIdent) (M): Identifies the module


- (O): can be downloaded as expected module ident list (objects 0xF03y)
- (O): can be uploaded as real module ident list (objects 0xF05y)

Type (ModuleClass) (O): used to group modules

Type (ModulePdoGroup) (O): used to define the PDO assign rule

Name (M): Name of the module

RxPDO (O): RxPDO(s) of the module


- PDO Number of the PDO might be adapted
- Index of the PDO entries might be adapted

TxPDO (O): TxPDO(s) of the module


- PDO Number of the PDO might be adapted
- Index of the PDO entries might be adapted

SafetyParaMapping (O): used only for FSoE modules

Mailbox (O): used to define init commands


- Index of the entries might be adapted

Profile (O): used to define the object dictionary


- Index of the entries might be adapted

Image (O): Images of the module

03/2011 © EtherCAT Technology Group (184)


Slots and Slot Groups

EtherCAT Basics
Slave Structure
• The connectable modules are described as Slots
Device Model (ISO/OSI)
Physical Layer
• One Module is related to one Slot
Data Link Layer
Frame Structure
• One Slot Group contains several Slots
Addressing
Commands
• Adapting of Index and PDO-Number
Memory/Registers – Unchanged
SyncManager
FMMU – With every slot (module)
Diagnosis
Distributed Clocks – With every slot group
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (185)


Slot

Element (Attribute) Description


(MaxSlotCount) maximum number of modules (slots) connectable

(SlotPdoIncrement) defines the increment (multiplied with the slot‘s (module‘s)


position) of the PDO number
(SlotIndexincrement) defines the increment (multiplied with the slot‘s (module‘s)
position) of the Index
(MaxSlotGroupCount) maximum number of slot groups connectable

(SlotGroupPdoIncrement) defines the increment (multiplied with the slot group‘s


position) of the PDO number
(SlotGroupIndexincrement) defines the increment (multiplied with the slot group‘s
position) of the Index
Slot List of slots (Definition of the slot see next slide)

ModulePdoGroup One element for each Module PDO Group

ModulePdoGroup Defines the alignment after the Module PDO Group


(Alignment)
ModulePdoGroup (PdoNo) Defines the PDO Number containing the mapping information
of the align

03/2011 © EtherCAT Technology Group (186)


Slot

- The Slot Definition contains a list of modules connectable to this slot


- The allowed order of the modules is described with the order of the slot
definitions
- Mandatory modules to be connected can be described with
MinInstances=MaxInstances=1

Element (Attribute) Description


(SlotGroup) Slot Group of the module

(MinInstances) Minimum number of instances of the slot

(MaxInstances) Maximum number of instances of the slot

(SlotGroupIndexIncrement) defines the increment (multiplied with the slot group‘s


position) of the Index.
If defined, it overwrites SlotGroupIndexIncrement of the Slots
definition.
ModuleIdent List of modules (identified by ModuleIdent) which is
connectable to the slot
ModuleClass List of modules (identified by ModuleClass) which is
connectable to the slot

03/2011 © EtherCAT Technology Group (187)


XML and EEPROM

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI) Configuration Tool generates binary file from device
Physical Layer
Data Link Layer
description to update EEPROM on slave
Frame Structure
Addressing
Commands
Memory/Registers
XML
SyncManager
FMMU
Diagnosis
Config
Distributed Clocks
Application Layer
Tool
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF 0110010001010… (*.bin)
Device Profiles
EEPROM
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (188)


Slave Information Interface (SII)

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (189)


Application
Appli- HTTP, Application
….
cation FTP, .. e.g. CiA402 Drive Profile

Object Dictionary Application


RD / WR File
TCP, UDP PDO Mapping Layer
... Access
IP SDO PDO (AL)
VoE FoE EoE CoE CoE
Mailbox DLL
Process Data Interface (µC, SSI, I/O )
SII
EEPROM Registers Mailbox Process Data

0x0000 0x1000
ESC Address Space (DPRAM)
SyncMan0 MbxOut SyncMan1 MbxIn SyncMan2 SyncMan3
Data
FMMU n FMMU n
FMMU Link
EtherCAT Slave Controller (ESC) FMMU
FMMU
Layer
EtherCAT Processing Unit (DL)
and Auto-Forwarder with Loop Back

PHY MII / EBUS MII / EBUS MII / EBUS MII / EBUS


Management Port 0 Port 1 Port 2 Port 3

Physical
Trafo

Trafo
RJ45
RJ45

PHY PHY LVDS Layer

Con
(PL)
WKC

WKC
HDR

HDR

FCS More Datagrams.. Mailbox Data FPWR Process Data LRW ECAT HDR Ethernet HDR
Purpose of Slave Information Interface

EtherCAT Basics
Slave Structure
• Slave Information Interface (SII) is mandatory for each
Device Model (ISO/OSI) EtherCAT Slave Device
Physical Layer
Data Link Layer • Information is stored in an EEPROM
Frame Structure
Addressing – I2C Interface
Commands
Memory/Registers – 1 kByte … 4 MByte
SyncManager
FMMU • SII contains
Diagnosis
Distributed Clocks
– ESC configuraiton data (mandatory)
Application Layer – boot configuration data
State Machine
Mailbox – device identity (mandatory)
Mailbox Interface
EoE Ethernet • Vendor Id, Product Code, Revision No, Serial No
CoE CANopen (same information in CoE object 0x1018)
FoE File Access
SoE Servo Drive – application information data
ESI: Device Description
SII: Slave Information /IF • Contains additional information
Device Profiles
Modular Devices – subdivided in categories
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

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SII – EEPROM Content
D e mo
EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (192)


SII – EEPROM Layout

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer Byte
Data Link Layer 0
EtherCAT Slave Controller Configuration Area
Frame Structure 16
Addressing VendorId ProductCode RevisionNo SerialNo
Commands 32
Memory/Registers
Hardware Delays Bootstrap Mailbox Config
48
SyncManager Mailbox Sync Man Config
FMMU
Diagnosis Reserved
Distributed Clocks
Application Layer 128
State Machine
Additional Information (Subdivided in Categories)
Mailbox …
Mailbox Interface
Category Strings
EoE Ethernet
CoE CANopen
Category Generals
FoE File Access
SoE Servo Drive
Category FMMU
ESI: Device Description
SII: Slave Information /IF
Category SyncManager
Device Profiles
Modular Devices
Category Tx- / RxPDO for each PDO
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (193)


EEPROM – Slave Configuration Area

EtherCAT Basics EEPROM Parameter Description Corresp.


Slave Structure Word Register
Device Model (ISO/OSI) Address
Physical Layer
Data Link Layer 0 PDI Control Initialization value for PDI Control register 0x0140
Frame Structure (EEPROM ADR 0x0000.9 is also mapped to 0x0141
Addressing register 0x0110.2)
Commands 1 PDI configuration, Initialization value for PDI Configuration 0x0150
Memory/Registers register 0x0151
SyncManager Depends on the selected PDI,
FMMU Configuration of Sync0 and Sync1 Pin
Diagnosis
Distributed Clocks 2 Pulse length of SYNC Initialization value for Pulse Length of SYNC 0x0982
Application Layer signals Signals register 0x0983
State Machine in Units of 10 ns
Mailbox 3 Extended PDI Initialization value for extended PDI 0x0152
Mailbox Interface configuration Configuration register 0x0153
EoE Ethernet
CoE CANopen 4 Configured Station Alias Initialization value for Configured Station Alias 0x0012
FoE File Access Address register 0x0013
SoE Servo Drive 5, 6 Reserved
ESI: Device Description
SII: Slave Information /IF 7 Checksum CRC of first 6 words
Device Profiles (x^8+x^2+x+1, initial value 0xFF)
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (194)


SII – Categories

EtherCAT Basics
Slave Structure
• Contains optional information
Device Model (ISO/OSI)
Physical Layer
• Divided in categories
Data Link Layer – Standard category(s)
Frame Structure
Addressing – Vendor category(s)
Commands
Memory/Registers • Same header for all categories
SyncManager
FMMU – Category Type 16 Bit 16 Bit
Diagnosis
– Word-Length of data Category Length Data…
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
Category Meaning
CoE CANopen STRINGS Text strings
FoE File Access
SoE Servo Drive General Device Information
ESI: Device Description
SII: Slave Information /IF
FMMU FMMU usage
Device Profiles SyncManger Modes of operation, Enable
Modular Devices
Drives TxPDO Transmit PDO Entries
Configuration Tool
EtherCAT Master
RxPDO Receive PDO Entries
Standards&Implementation

03/2011 © EtherCAT Technology Group (195)


SII - Content

Device Types: No PD Fixed PD Fixed PD Fixed PD Variable PD


MBX No MBX No OD OD OD
Info Struct ESC Info M M M M M
(128 Byte)
Identity M M M M M
Bootstrap O O O O
Mbx Info
Standard M M M M
Mbx Info
Categories Strings O O O O O
(10)
General M M M M M
(30)
Sync Mng (41) O M M M M
FMMU (40) O O O O M
PDO (50, 51) M M O (same as OD)
OP Modes (60) O O O O
Discussion?
Timeouts (70) O O O O O
Object Dictionary O O O
Entries (80)

03/2011 © EtherCAT Technology Group (196)


SII - Category for CoE Object Dictionary Entries (80)

EtherCAT Basics
Slave Structure
• Only used for slave devices without any Object
Device Model (ISO/OSI) Dictionary
Physical Layer
Data Link Layer • Content of a virtual Object Dictionary – comparable to the
Frame Structure
Addressing virtual OD in the device description files (XML)
Commands
Memory/Registers • Provides information for the master that are already
SyncManager
FMMU
defined by existing profiles
Diagnosis
Distributed Clocks
• Examples are
Application Layer – Device type…
State Machine
Mailbox – DC settings (Object 1C32h, 1C33h…)
Mailbox Interface
EoE Ethernet – …
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (197)


PDI access to SII (E²PROM)

EtherCAT Basics
Slave Structure
• Standard: EEPROM assigned to EtherCAT Master
Device Model (ISO/OSI)
Physical Layer
• Master can grant access to PDI
Data Link Layer – Change from INIT to PREOP Master
Frame Structure
Addressing • PDI can check SII content (e.g. Firmware Revision compatible
Commands to Hardware Revision)
Memory/Registers
SyncManager
(before ALCtrl=2 until ALStatus=2)
FMMU – Change from INIT to BOOT and while in BOOT
Diagnosis
Distributed Clocks • After Firmware Update PDI can update SII information
Application Layer (before ALCtrl=3, ALCtrl=1 until ALStatus=1)
State Machine
Mailbox • Slave Sample Code V4.0 contains SII access from PDI
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (198)


Device Profiles – Motivation

EtherCAT Basics
Slave Structure
• The main issues of this device model are
Device Model (ISO/OSI) – modeling of structures within a device
Physical Layer
Data Link Layer – usable for a large number of devices from very simple one
Frame Structure
Addressing
to complex sub-structured
Commands
– easy way for master and configuration devices to handle
Memory/Registers
SyncManager the device
FMMU
Diagnosis – use of similar channel profiles in all device types shown
Distributed Clocks below
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Profile for Modular Devices
Standards&Implementation

03/2011 © EtherCAT Technology Group (199)


Modular Device Profile

EtherCAT Basics • EtherCAT supports complex slaves


Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer • E.g. devices with physical modules to be connected (modular
Frame Structure
Addressing
device) or devices with different operation modes (complex
Commands device).
Memory/Registers
SyncManager
FMMU
Diagnosis
• The Modular Device Profile defines
Distributed Clocks – A modeling of structures within a device,
Application Layer
State Machine e.g. the Object dictionary
Mailbox
Mailbox Interface
– An easy way for master and configuration devices to handle
EoE Ethernet the device
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (200)


Modular Device Profile

EtherCAT Basics
Slave Structure • Gateways from EtherCAT to legacy Fieldbusses like
Device Model (ISO/OSI)
Physical Layer - CANopen*
Data Link Layer
Frame Structure
- Profibus
Addressing - DeviceNet
Commands
Memory/Registers - …
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (201)
Modular Device Profile

EtherCAT Basics
Slave Structure
• Extendable Fieldbus coupler with internal backbone
Device Model (ISO/OSI)
Physical Layer
Data Link Layer internal backbone
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
• Multi Axis Servo Drive with different function groups
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FG Position
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
FG Torque FG Velocity
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (202)


Object Dictionary of Modular Device Profile

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
• 0x0000 – 0x0FFF Data Type Area
Physical Layer
Data Link Layer
• 0x1000 – 0x1FFF: Communication Area
Frame Structure
Addressing
• 0x2000 – 0x5FFF: Manufacturer specific Area
Commands
Memory/Registers
• 0x6000 – 0x6FFF: Input Area
SyncManager
FMMU
• 0x7000 – 0x7FFF: Output Area
Diagnosis
Distributed Clocks
• 0x8000 – 0x8FFF: Configuration Area
Application Layer
State Machine
• 0x9000 – 0x9FFF: Information Area
Mailbox
Mailbox Interface
• 0xA000 – 0xAFFF: Diagnosis Area
EoE Ethernet
CoE CANopen
• 0xB000 – 0xBFFF: Service Transfer Area
FoE File Access
SoE Servo Drive
• 0xC000 – 0xEFFF: Reserved Area
ESI: Device Description
SII: Slave Information /IF
• 0xF000h – 0xFFFF: Device Area
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation Different Ranges according to CANopen* DS301!
03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (203)
Model of a modular device

EtherCAT Basics
Slave Structure
RxPDO (Output) 0x16xx 0x1600 0x1601 0x160n
Device Model (ISO/OSI)
Physical Layer
Output Entries (0x7xx) 0x7000 – 0x700F 0x7010 – 0x701F 0x7nn0 – 0x7nnF
Data Link Layer
Frame Structure
TxPDO (Input) 0x1Axx 0x1A00 0x1A01 0x1Ann
Addressing
Commands Input Entries (0x7xx) 0x6000 – 0x600F 0x6010 – 0x601F 0x6nn0 – 0x6nnF
Memory/Registers
SyncManager Configuration Parameter 0x8000 – 0x800F 0x8010 – 0x801F 0x8nn0 – 0x8nnF
FMMU
Diagnosis Information 0x9000 – 0x900F 0x9010 – 0x901F 0x9nn0 – 0x9nnF
Distributed Clocks
Application Layer Configuration Area
State Machine 0x1000 – 0x1FFF
Mailbox
Mailbox Interface Device Parameter M o d u le 0 M o d u le 1 ... M o d u le n n
EoE Ethernet 0xF000 – 0xFFFF
CoE CANopen
FoE File Access MDP-Gerät (Gateway) Feldbus-Slave 0 Feldbus-Slave 1 Feldbus-Slave nn
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (204)


Modular Device Profile

EtherCAT Basics • The modular device profile can be applied for different
Slave Structure
Device Model (ISO/OSI) device types
Physical Layer
Data Link Layer
– Fieldbus Gateways
Frame Structure Gateways to other fieldbusses
Addressing
Commands
– Modular Devices
Memory/Registers with physical connectable modules and/or several
SyncManager functional modules
FMMU
Diagnosis – Module Devices
Distributed Clocks which is connected directly to EtherCAT and consists of
Application Layer
State Machine
several channels
Mailbox
Mailbox Interface
EoE Ethernet • Standard configuration
CoE CANopen
FoE File Access – 16 objects per module in a specific area
SoE Servo Drive
ESI: Device Description
– Up to 255 modules available
SII: Slave Information /IF – This standard can be adapted to the device requirements
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (205)


Example for Dynamic Device Profile

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
BK1120 + DI 4 + DO 8 + AO 2
Physical Layer
Data Link Layer Device Slot 0 Slot 1 Slot 2
Frame Structure
Addressing RxPDO (Output) 0x1600 0x1601 0x1602
Commands
Memory/Registers Output Entries 0x7000 0x7010: 0x7020:
SyncManager SI0, 1-8 SI0, 1-2
FMMU
Diagnosis TxPDO (Input) 0x1A00 0x1A01 0x1A02
Distributed Clocks
Application Layer
State Machine Input Entries 0x6000: 0x6010 0x6020:
SI 0,1-4 SI 0, 1-2
Mailbox
Mailbox Interface
EoE Ethernet Dig. Input 4 Dig. Output 8 Anal. Output 2
CoE CANopen
FoE File Access
SoE Servo Drive EtherCAT Slave BK1120
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
SI…Subindex (SI0 = number of SIs of this object)
Standards&Implementation

03/2011 © EtherCAT Technology Group (206)


MDP – Profile Numbering

EtherCAT Basics
Slave Structure
• MDP Profile Number is 5001 (= Object 0x1000, Bit 0-15)
Device Model (ISO/OSI)
Physical Layer
• Module Profile Number (= Object 0x1000, Bit 16-31)
Data Link Layer
Frame Structure
Addressing Module Profile Number Description
Commands
Memory/Registers 1000 Ethernet gateway (EoE)
SyncManager
1100 EtherCAT Master (for Mailbox Gateway)
FMMU
Diagnosis 1110 EtherCAT Slave
Distributed Clocks
1120 KBus Master
Application Layer
State Machine 3100 PROFIBUS Master
Mailbox
3110 PROFIBUS Slave
Mailbox Interface
EoE Ethernet 4000 Interbus Master
CoE CANopen
4010 Interbus Slave
FoE File Access
SoE Servo Drive 5100 CANopen* Master
ESI: Device Description
5110 CANopen* Slave
SII: Slave Information /IF
Device Profiles 5200 DeviceNet Master
Modular Devices
5210 DeviceNet Slave
Drives
Configuration Tool 6200 ASI-Master
EtherCAT Master
6220 IO Link-Master
Standards&Implementation

03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (207)
CiA402 Drive Profile

EtherCAT Basics • IEC 61800-7


Slave Structure
Device Model (ISO/OSI)
Generic interface and use of profiles for power drive systems
Physical Layer – Part 7-1: Interface definition
Data Link Layer
Frame Structure – Part 7-2: Profile specifications
Addressing – Part 7-3: Mapping of profiles to network technologies
Commands
Memory/Registers • Mapping CiA402 to EtherCAT
SyncManager
FMMU
• Mapping SERCOS profile to EtherCAT
Diagnosis
Distributed Clocks • ETG.6010 Implementation Guideline for the CiA402 Drive Profile
Application Layer
State Machine – Specify a common behavior of EtherCAT CiA402 servo drives
Mailbox according to IEC 61800-7
Mailbox Interface
EoE Ethernet
CoE CANopen • Scope
FoE File Access
SoE Servo Drive – EtherCAT CiA402 Servo Drives
ESI: Device Description – No frequency converter, no stepper
SII: Slave Information /IF
Device Profiles – The mapping of the SERCOS profile to EtherCAT described in
Modular Devices IEC 61800-7-304 is not part of this guideline
Drives
Configuration Tool
EtherCAT Master • Sample Implementation
Standards&Implementation
– Within Slave Sample Code V4.30 according to ETG.6010
03/2011 © EtherCAT Technology Group (208)
Drive Profile

EtherCAT Basics
EtherCAT is Part of the drives standard in Annex A and D
Slave Structure
Device Model (ISO/OSI)
Physical Layer
IEC 61800 Parts 1 to 6
Adjustable speed electrical power drive systems IEC TR 62390
Data Link Layer Abstract Device profile guideline
Frame Structure models
Addressing IEC 61800-7 Generic interface and use of profiles for power drive systems
Commands
Memory/Registers Generic IEC 61800-7-1 Interface definition
SyncManager PDS
interface Annex C:
FMMU Annex A: Annex B: Annex D:
Mapping to
Diagnosis Mapping to Mapping to Mapping to
Mapping to PROFIdriv
Distributed Clocks CiA402 CIP SERCOS
solutions e
Application Layer
(profiles)
State Machine
IEC 61800-7-2 Profile specifications
Mailbox
Mailbox Interface
Annex A: Annex C: Annex D:
Annex B:
EoE Ethernet Profile Profile Profile
Profile
CoE CANopen Drive CiA402 CIP
PROFIdriv SERCOS
profiles e
FoE File Access
SoE Servo Drive
ESI: Device Description IEC 61800-7-3 Mapping of profiles to network technologies
Mapping to
SII: Slave Information /IF
network Annex A Annex B Annex C Annex D
Device Profiles
technologies
Modular Devices Mapping to Mapping to Mapping to Mapping to Mapping to Mapping to Mapping to Mapping to Mapping to Mapping to Mapping to
CANopen EtherCAT ETHERNET DeviceNet ControlNet EtherNet/IP PROFIBUS PROFINET SERCOS SERCOS EtherCAT
Drives Powerlink I + II III
Configuration Tool
EtherCAT Master
Standards&Implementation 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.
03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (209)
Drive Control - Modes of Operation

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer NC/ PC EtherCAT Drive
Data Link Layer
Frame Structure Pos. Pos. Velo. Torque
M
Addressing Gen. control control control
Commands
t
Memory/Registers v
SyncManager s
FMMU
Diagnosis
Distributed Clocks
NC/ PC EtherCAT Drive
Application Layer
State Machine Pos. Pos. Velo. Torque
Mailbox
M
Gen. control control control
Mailbox Interface
t
EoE Ethernet v
CoE CANopen s
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF NC/ PC EtherCAT Drive
Device Profiles Pos. Pos. Velo. Torque
Modular Devices M
Drives
Gen. control control control
Configuration Tool t
EtherCAT Master v
Standards&Implementation
s

03/2011 © EtherCAT Technology Group (210)


ETG.6010 CiA402 Implementation Guideline

EtherCAT Basics • Contents


Slave Structure
Device Model (ISO/OSI) – Clarifications of the state machine
Physical Layer
Data Link Layer – Modes of operation
Frame Structure
Addressing – Function Groups (FG)
Commands
Memory/Registers
• FG Position, FG Velocity, FG Torque
SyncManager • FG Torque Limiting, FG Homing, FG Touch Probe
FMMU
Diagnosis – Endless Positioning
Distributed Clocks
Application Layer – For PDO Mapping only recommendation
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (211)


EtherCAT Configuration Tool
D e mo
EtherCAT Basics
Slave Structure
• Configure EtherCAT Slave devices
Device Model (ISO/OSI) – Evaluate XML device description
Physical Layer
Data Link Layer – Evaluate EEPROM information – if online
Frame Structure
Addressing • Generate network initialization commands
Commands
Memory/Registers – Information for the EtherCAT driver
SyncManager
FMMU – Initialization commands correspond to State Machine
Diagnosis transitions
Distributed Clocks
Application Layer • Generates cyclic commands
State Machine
Mailbox – Information for the EtherCAT driver
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (212)


Network Configuration

EtherCAT Basics EtherCAT Slave


Slave Structure
Information
Device Model (ISO/OSI)
Physical Layer
(ESI)
Data Link Layer
Frame Structure
Addressing EtherCAT
Commands
Memory/Registers
Configuration Tool
SyncManager (Offline)
FMMU
Diagnosis
Distributed Clocks
Application Layer
EtherCAT Network Configuration
State Machine
Information (ENI) XML Information (binary)
Mailbox Vendor specific
General Exchange File
Mailbox Interface
Format Format
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
EtherCAT
ESI: Device Description
SII: Slave Information /IF Master Driver E2PROM
Information
Device Profiles
(Online)
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (213)


EtherCAT Configuration Exchange Format

EtherCAT Basics
Slave Structure
• Vendor and Driver independent format
Device Model (ISO/OSI)
Physical Layer
• Master Vendor must not imperatively develop an own
Data Link Layer Configuration Tool
Frame Structure
Addressing • Contains
Commands
Memory/Registers – initialization commands – per slave device
SyncManager
FMMU – cyclic process data commands
Diagnosis
Distributed Clocks
– information about the mailboxes
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (214)


EtherCAT Master

EtherCAT Basics
Slave Structure
• Configuration with help of an EtherCAT configuration XML
Device Model (ISO/OSI) file
Physical Layer
Data Link Layer • Send and receive raw Ethernet frames from a network
Frame Structure
Addressing adapter
Commands
Memory/Registers • Management of the EtherCAT slaves
SyncManager
FMMU
– Sending init commands defined in the XML file
Diagnosis
Distributed Clocks
• Mailbox Communication
Application Layer
State Machine
– CAN application protocol over EtherCAT protocol (CoE)
Mailbox – Servo-Profile over EtherCAT protocol (SoE)
Mailbox Interface
EoE Ethernet – Ethernet over EtherCAT protocol (EoE)
CoE CANopen
FoE File Access – Filetransfer over EtherCAT protocol (FoE)
SoE Servo Drive
ESI: Device Description • Software-integrated switch functionality
SII: Slave Information /IF
Device Profiles • Cyclic process data communication
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (215)


What does an EtherCAT Master do?

EtherCAT Basics
Slave Structure
• Parse XML Hardware configuration file (initialization,
Device Model (ISO/OSI) state machine, and process data mapping)
Physical Layer
Data Link Layer • Initialization of Fieldbus
Frame Structure
Addressing • Runs State Machine
Commands
Memory/Registers • Interface to application
SyncManager
FMMU • Interface to network driver
Diagnosis
Distributed Clocks • Sends cyclic process data commands
Application Layer
State Machine • Sends mailbox commands
Mailbox
Mailbox Interface • Handles various protocols
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (216)


EtherCAT Master Block Diagram

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Control Task
Physical Layer
Data Link Layer
Frame Structure
Addressing Process Image
Commands (XML)
Memory/Registers EtherCAT Network
SyncManager Information with
System Initialization Commands
FMMU
Configuration Process Image
Diagnosis
Tool XML Parser
Distributed Clocks XML
Application Layer
State Machine
Mailbox HDR Process Data
HW Config
Mailbox Interface EtherCAT Slave Init Cmds
EoE Ethernet Information
CoE CANopen XML
FoE File Access
Online functions
SoE Servo Drive EtherCAT Master Driver
ESI: Device Description
SII: Slave Information /IF
Device Profiles EtherCAT Master
Modular Devices
Drives
Configuration Tool Standard Ethernet MAC
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (217)


Prerequisites for EtherCAT Master (Real Time)

EtherCAT Basics
Slave Structure
• Hardware
Device Model (ISO/OSI) – Standard network controller using DMA
Physical Layer
Data Link Layer • NO special plug in card needed
Frame Structure
Addressing
• Speed and Quality important
Commands – No switches or hubs required
Memory/Registers
SyncManager – Cache design, CPU
FMMU
Diagnosis – Low jitter, x86 Dual Xeon < 2 µs
Distributed Clocks
Application Layer
State Machine
Mailbox • Software
Mailbox Interface
EoE Ethernet – Real-time Kernel
CoE CANopen
FoE File Access
– Low Level Network Card Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (218)


EtherCAT Master Development (Real Time)

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
1. XML Parser functionality
Physical Layer
Data Link Layer
2. EtherCAT Master driver
Frame Structure – Interface to configuration tool
Addressing
Commands – State machine
Memory/Registers necessary
SyncManager – Interface to application
FMMU
Diagnosis – Interface to network card
Distributed Clocks
Application Layer
– NIC Timing Interface
State Machine
Mailbox
3. Real Time Kernel
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
4. Hardware Configuration Tool
SoE Servo Drive – 3.rd party configuration tools can be used as
ESI: Device Description
SII: Slave Information /IF the configuration is provided to EtherCAT optional
Device Profiles master in a common format (XML)
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (219)


Master Sample Code Structure

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer ENI
Frame Structure EtherCAT File Parser Appl.
Addressing
Commands
Configuration
Memory/Registers Tool
SyncManager
Process Image
FMMU EtherCAT
Diagnosis Online Functions Master Driver (Sample)
Distributed Clocks
Application Layer
State Machine Ethernet Frames
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
TCP/IP NPF (based)
FoE File Access Protocol Driver Protocol Driver
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF NDIS
Device Profiles
Modular Devices
Drives
Configuration Tool
Miniport
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (220)


Master Sample Code Overview

EtherCAT Basics
Slave Structure
• Sample EtherCAT Master Communication Software (including
Device Model (ISO/OSI) Source Code)
Physical Layer
Data Link Layer
– Non Real Time
Frame Structure – Realized as Windows Application Program
Addressing
Commands
(MS Windows XP/2000)
Memory/Registers – Source Code MS C++
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (221)


Standards and References

EtherCAT Basics
Slave Structure
• Specification of EtherCAT has been done in the
Device Model (ISO/OSI) EtherCAT Technology Group (ETG)
Physical Layer
Data Link Layer
Frame Structure
Addressing • Specifications available at www.EtherCAT.org
Commands
Memory/Registers – XML File Style sheet
SyncManager
FMMU – Datasheets of ESC, ...
Diagnosis
Distributed Clocks
– Modular Device Profile
Application Layer – Reports of ETG TC meetings
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
• International standardization
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (222)


Standards and References

EtherCAT Basics
Slave Structure
• EtherCAT is part of different international
Device Model (ISO/OSI) standardization efforts
Physical Layer
Data Link Layer
Frame Structure
Standard Title Status Remarks
Addressing
Commands IEC 61158 Digital data communication for measurement IS Type 12:
Memory/Registers and and control – Fieldbus for use in industrial EtherCAT Specification
SyncManager ETG.1000 control systems
FMMU
Diagnosis Part 1: Overview and guidance
Distributed Clocks Part 2: Physical Layer service definition and
Application Layer protocol specification
State Machine
Mailbox Part 3: Data Link Layer service definition
Mailbox Interface Part 4: Data Link Layer protocol specification
EoE Ethernet
CoE CANopen Part 5: Application Layer service definition
FoE File Access Part 6: Application Layer protocol
SoE Servo Drive specification
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master IS : International Standard
Standards&Implementation

03/2011 © EtherCAT Technology Group (223)


Standards and References

EtherCAT Basics
Slave Structure Standard Title Status Remarks
Device Model (ISO/OSI)
IEC 61784 Digital data communication for measurement
Physical Layer
and control
Data Link Layer
Frame Structure Part 1: Profile sets for continuous and discrete IS
Addressing manufacturing relative to fieldbus use in
Commands industrial control systems
Memory/Registers
Part 2: Additional profiles for ISO/IEC 8802-3 IS CPF12: EtherCAT
SyncManager
based communication networks in real-time
FMMU
applications
Diagnosis
Distributed Clocks IEC 61800 Adjustable speed electrical power drive
Application Layer systems
State Machine
Part 7-1: Generic interface and use of profiles IS Part 7:
Mailbox
for power drive systems – Interface definition Drive Profiles
Mailbox Interface
EoE Ethernet Part 7-2: Generic interface and use of profiles IS
CoE CANopen for power drive systems – Profile specifications
FoE File Access
SoE Servo Drive
Part 7-3: Generic interface and use of profiles IS Mapping
ESI: Device Description
for power drive systems – Mapping of profiles EtherCAT to
SII: Slave Information /IF
to network technologies CANopen* CiA402
Device Profiles
and SERCOS
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (224)
Standards and References

EtherCAT Basics
Slave Structure Standard Title Status Remarks
Device Model (ISO/OSI)
ISO 15745 Industrial automation systems and integration - Ed 1 CANopen*
Physical Layer
- Open systems application integration
Data Link Layer
framework
Frame Structure
Addressing Part 4 Amd 2: Profiles for Modbus TCP, PRF Amd Mapping
Commands EtherCAT and ETHERNET Powerlink EtherCAT to
Memory/Registers CANopen* CiA301
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
PRF Amd: : Proof of a new International Standard, Amendment
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (225)
IEC 61158 / ETG.1000

EtherCAT Basics
Slave Structure
• Digital data communication for measurement and control
Device Model (ISO/OSI) – Fieldbus for use in industrial control systems
Physical Layer
Data Link Layer
Frame Structure
Addressing • The communication standard
Commands
Memory/Registers
SyncManager
FMMU • EtherCAT is named Type 12 in IEC 61158
Diagnosis
Distributed Clocks (no brand names allowed)
Application Layer
State Machine
Mailbox
Mailbox Interface • Transformation of the communication protocol to a
EoE Ethernet
CoE CANopen
common model
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (226)


IEC 61158 – DL/AL services and protocols

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Users Implementers
Data Link Layer
Frame Structure
Addressing AL Services AL Protocol
Commands
Part 5 in IEC 61158 Part 6 in IEC 61158
Memory/Registers
SyncManager • Syntax definition and Coding
• Model and Concepts
FMMU • Application Relationship
• Data type definitions
Diagnosis • Application Objects Procedures
Distributed Clocks • Service description • State Machines
Application Layer • Communication Management
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen DL Services DL Protocol
FoE File Access Part 3 in IEC 61158 Part 4 in IEC 61158
SoE Servo Drive
• Model and Concepts • Coding
ESI: Device Description
• Service description • Medium Access
SII: Slave Information /IF • Register Description • State Machines
Device Profiles (DL objects)
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (227)


Further EtherCAT standards

EtherCAT Basics
Slave Structure
• ETG.1300 Indicator and Labeling specification
Device Model (ISO/OSI) – defines the implementation of indicators signaling the
Physical Layer
Data Link Layer EtherCAT communication state, errors and the link status.
Frame Structure
Addressing
– the location, labeling and blink codes of the indicators are
Commands defined
Memory/Registers
SyncManager – defines the labeling of the EtherCAT Ports
FMMU
Diagnosis
Distributed Clocks
Application Layer • ETG.9001 Marking Rules
State Machine
Mailbox – specifies the marking rules for products and the
Mailbox Interface corresponding documentation using the EtherCAT
EoE Ethernet
CoE CANopen technology
FoE File Access
SoE Servo Drive
– Use of trademarks and logo
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
These specifications can be found on the ETG Website
EtherCAT Master
http://www.ethercat.org/en/publications.html#members_area
Standards&Implementation

03/2011 © EtherCAT Technology Group (228)


Further EtherCAT standards

EtherCAT Basics
Slave Structure
• ETG.2000 EtherCAT Slave Information specification
Device Model (ISO/OSI) – describes the ESI schema
Physical Layer
Data Link Layer
Frame Structure
Addressing • ETG.2100 EtherCAT Network Information specification
Commands
Memory/Registers – describes the ENI schema
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
These specifications can be found on the ETG Website
EtherCAT Master
http://www.ethercat.org/en/publications.html#members_area
Standards&Implementation

03/2011 © EtherCAT Technology Group (229)


Further EtherCAT standards

EtherCAT Basics
Slave Structure
• ETG.2200 EtherCAT Slave Implementation Guideline
Device Model (ISO/OSI) – describes from a very practical point of view which topics
Physical Layer
Data Link Layer have to be kept in mind for a successful EtherCAT slave
Frame Structure implementation
Addressing
Commands
Memory/Registers
SyncManager • ETG.6010 CiA402 Implementation Guideline
FMMU
Diagnosis – defines a common behavior of an EtherCAT servo drive
Distributed Clocks
Application Layer
supporting the CiA402 drive profile
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
These specifications can be found on the ETG Website
EtherCAT Master
http://www.ethercat.org/en/publications.html
Standards&Implementation

03/2011 © EtherCAT Technology Group (230)


EtherCAT Knowledge Base

EtherCAT Basics
Slave Structure
• The EtherCAT Knowledge Base
Device Model (ISO/OSI) – contains guidelines, application notes, recommendations,
Physical Layer
Data Link Layer technical information,
Frame Structure
Addressing
– http://www.ethercat.org/infosys.html
Commands
Memory/Registers
SyncManager
FMMU
• Content of the Knowledge Base
Diagnosis – ETG.1400 EtherCAT Technology Description
Distributed Clocks
Application Layer – ETG.1020 EtherCAT Guidelines & Protocol Enhancements
State Machine
Mailbox – ETG.5001 EtherCAT Modular Device Profile
Mailbox Interface
EoE Ethernet
– FAQs
CoE CANopen
FoE File Access
SoE Servo Drive – ETG.1020 and ETG.5001 are part of the EtherCAT
ESI: Device Description
SII: Slave Information /IF specification!
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (231)


EtherCAT Policies

EtherCAT Basics
Slave Structure
• EtherCAT Vendor ID Policy
Device Model (ISO/OSI)
Physical Layer
• EtherCAT Conformance Test Policy
Data Link Layer
Frame Structure
Addressing
Commands
• Download
Memory/Registers – http://www.ethercat.org/en/publications.html
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (232)


ETG By-Laws + Policies: Overview

ETG By-Laws Conformance Test Policy


• Structure of ETG • Conformance Testing can be done
in-house, using the Conformance Test Tool (CTT)
• Membership Assembly • Conformance only with valid Vendor ID
• IPR Rules (no hidden IPR) • Test Tool (CTT) Subscription mandatory
• EtherCAT Conformance Testing:
• Member Logo Usage
official test in official EtherCAT Test Center (ETC)
• ETG/EtherCAT Logo Usage • Only test in ETC qualifies for certificate
• Membership Assembly / Board • Technical Advisory Board: instance for appeals
• Policy accepted unanomiously by Membership Assembly
of Directors passes and
implements Policies + Guidelines
• Membership free of charge, Vendor ID Policy
unless Membership Assembly • Vendor needs EtherCAT Vendor ID
decides to change this • Vendor shall be ETG member
• Vendor shall follow Marking Rules

Marking Rules Vendor ID Agreement


• Products shall be marked
• Products shall pass Conformance Test
with EtherCAT®, if possible
• Vendor shall follow EtherCAT Standard
• Documentation shall
• Warranty Disclaimer
contain patent reference

03/2011 © EtherCAT Technology Group (233)


EtherCAT Technology Group

Vendor ID Policy Introduction

03/2011 © EtherCAT Technology Group (234)


Vendor ID in IEC 61158-6-12 (EtherCAT Standard)

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (235)


Vendor ID Principles (I)

EtherCAT Basics
Slave Structure
• Each vendor of an EtherCAT Device shall be an ETG
Device Model (ISO/OSI) member and shall obtain and maintain a Vendor ID from
Physical Layer
Data Link Layer the EtherCAT Technology Group.
Frame Structure
Addressing • Definition of EtherCAT Device:
Commands
Memory/Registers
– EtherCAT Device means any device with an EtherCAT
SyncManager master and/or slave interface, excluding infrastructure
FMMU
Diagnosis
components such as cables and connectors and also
Distributed Clocks excluding machines or machine lines.
Application Layer
State Machine – Machine or Machine Line means an aggregation of
Mailbox
Mailbox Interface
components, optionally including but not limited to
EoE Ethernet EtherCAT Devices, intended for a specific purpose.
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (236)


Vendor ID Principles (II)

EtherCAT Basics
Slave Structure
• Manufacturers of machines or machine lines, which
Device Model (ISO/OSI) integrate and use EtherCAT Devices such as Automation
Physical Layer
Data Link Layer Products in combination with or in such machines or
Frame Structure
Addressing
machine lines, are not required to apply for and use a
Commands Vendor ID.
Memory/Registers
SyncManager • In other words: End users do not have to be ETG
FMMU
Diagnosis member and do not need an ETG vendor ID – even
Distributed Clocks
Application Layer
though they are welcome to join ETG and also may get a
State Machine vendor ID.
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (237)


Vendor ID Principles (III)

EtherCAT Basics
Slave Structure
• The Vendor ID is free of charge.
Device Model (ISO/OSI)
Physical Layer
• The vendor shall implement the Vendor ID in each
Data Link Layer EtherCAT Device prior to making it available on the
Frame Structure
Addressing market.
Commands
Memory/Registers • In case a vendor uses several brand names different
SyncManager
FMMU
from his vendor brand, he shall use an individual vendor
Diagnosis ID for each such brand name and the corresponding
Distributed Clocks
Application Layer devices.
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (238)


How about products such as Interface boards?

EtherCAT Basics
Slave Structure
• Definition of Communication Device:
Device Model (ISO/OSI) – Communication Device means an EtherCAT device for
Physical Layer
Data Link Layer assembly with or mounting with an Automation Device for
Frame Structure the general purpose of communication of the Automation
Addressing
Commands Device via EtherCAT.
Memory/Registers
SyncManager • Definition of Automation Device:
FMMU
Diagnosis
– Automation Device means an EtherCAT Device for
Distributed Clocks assembly with or mounting with a machine or machine line
Application Layer
State Machine
intended to use for the general purpose of driving,
Mailbox controlling, monitoring and communication of the machine
Mailbox Interface
EoE Ethernet
or machine line.
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

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Typical Examples of Communication Devices:

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

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Vendor ID for Communication Devices (I)

EtherCAT Basics
Slave Structure
• Manufacturers of Communication Devices shall distribute
Device Model (ISO/OSI) those Communication Devices using their Secondary
Physical Layer
Data Link Layer Vendor ID. Optionally they may also use their Vendor ID,
Frame Structure
Addressing
e.g. for conformance testing.
Commands
Memory/Registers
• Definition of Secondary Vendor ID:
SyncManager – Secondary Vendor ID means a Vendor ID in the range of
FMMU
Diagnosis 0xE0000000:0xEFFFFFFF that the vendor of a
Distributed Clocks Communication Device derives from his Vendor ID by an
Application Layer
State Machine OR operation of his Vendor ID and 0xE0000000.
Mailbox
Mailbox Interface
– In the context of conformance testing a Secondary Vendor
EoE Ethernet ID is not considered a valid Vendor ID.
CoE CANopen
FoE File Access – Use of a Secondary Vendor ID in an Automation Device is
SoE Servo Drive
ESI: Device Description
prohibited.
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
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Vendor ID for Communication Devices (II)

EtherCAT Basics
Slave Structure
• End Users or Integrators may use such Communication
Device Model (ISO/OSI) Devices without further modification, however, may re-
Physical Layer
Data Link Layer distribute such devices (e.g. PCI Interface card products)
Frame Structure
Addressing
only as part of a machine or machine line.
Commands
Memory/Registers
• Manufacturers of Automation Devices may use such
SyncManager Communication Devices (e.g. communication daughter
FMMU
Diagnosis board for drives) within or combined with their own
Distributed Clocks
Application Layer
Automation Devices, and shall re-program the Products
State Machine with their own Vendor ID before re-distributing such
Mailbox
Mailbox Interface Automation Devices.
EoE Ethernet
CoE CANopen • Manufacturers of Communication Devices shall explain
FoE File Access
SoE Servo Drive
the Vendor ID handling in their product documentation
ESI: Device Description accordingly, e.g. like proposed in the annex of the
SII: Slave Information /IF
Device Profiles Vendor ID policy.
Modular Devices
Drives
Configuration Tool
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How to obtain an EtherCAT Vendor ID?

EtherCAT Basics
Slave Structure http://www.ethercat.org/memberarea/vendor_id.asp
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

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EtherCAT Vendor ID Agreement

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
• Applicants for an EtherCAT Vendor
Physical Layer ID have to accept the Vendor ID
Data Link Layer
Frame Structure Agreement
Addressing
Commands

The Vendor ID Agreement:


Memory/Registers
SyncManager •
FMMU
Diagnosis • Demands Conformance for
Distributed Clocks
Application Layer
EtherCAT products
State Machine
Mailbox
• Governs the use of the EtherCAT
Mailbox Interface Trademarks ( including reference to
EoE Ethernet
CoE CANopen the EtherCAT Marking Rules)
FoE File Access
SoE Servo Drive • Contains a Disclaimer (“Technology
ESI: Device Description
SII: Slave Information /IF
provided “as is”, with no warranty
Device Profiles implied…)
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (244)


Vendor ID: Summary

EtherCAT Basics
Slave Structure
• EtherCAT Devices need an EtherCAT Vendor ID
Device Model (ISO/OSI)
Physical Layer
• End users (such as Machine Builders) do not need an
Data Link Layer own Vendor ID*
Frame Structure
Addressing • If you have no own EtherCAT Vendor ID yet,
Commands
Memory/Registers go to EtherCAT Technology Group Website (Members
SyncManager
FMMU
Section), and apply for one!
Diagnosis
Distributed Clocks
• And one final remark: A Vendor ID obtained from any
Application Layer other organization is not valid for EtherCAT devices…
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
* For Details see Vendor ID Policy
Standards&Implementation

03/2011 © EtherCAT Technology Group (245)


EtherCAT Technology Group

Conformance Testing
+
Product Certification
Frequently Asked Questions

03/2011 © EtherCAT Technology Group (246)


Frequently Asked Questions (I)

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
• What is the difference between Conformance Test and
Physical Layer EtherCAT Conformance Test?
Data Link Layer
Frame Structure – Within the context of the ETG Conformance Test Policy:
Addressing
Commands
Memory/Registers
– Conformance Test is the Test, in which the conformance of
SyncManager the Device under Test (DuT) with the EtherCAT
FMMU
Diagnosis
Specifications is tested with the help of a Conformance
Distributed Clocks Test Tool.
Application Layer
State Machine – EtherCAT Conformance Test: Conformance Test,
Mailbox
Mailbox Interface Interoperability Test and Physical Layer Test carried out by
EoE Ethernet an EtherCAT Test Center.
CoE CANopen
FoE File Access
– So the EtherCAT Conformance Test is a superset of the
SoE Servo Drive
ESI: Device Description Conformance Test.
SII: Slave Information /IF
Device Profiles – (this wording was introduced for historical reasons)
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (247)


Conformance Test Tool (CTT)

EtherCAT Basics
Slave Structure • Test Tool
Device Model (ISO/OSI)
Physical Layer – Validates conformity for protocol layer
Data Link Layer
Frame Structure
– Helps to find errors during development due to detailed
Addressing error description
Commands
Memory/Registers – Helps to improve support: detailed information saved with
SyncManager
CTT project file
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (248)


Conformance Test Tool (CTT)

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
Physical Layer
Data Link Layer
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (249)


Conformance Test Tool – Features

• Test ID: frames of


every single test can
be easily found in a
network scan (e.g.
Wireshark)
due to a NOP cmd.
containing the TestID,
GroupID and CaseID

In Wireshark Scan:
NOP Command (Cmd Type0x00)
Version_TestID_GroupID_CaseID

03/2011 © EtherCAT Technology Group (250)


Conformance Test Tool – Features

• Test description:
integrated into test cases
- Pre Condition
- Action
- Post Condition

• Output: messages in
Logger window:
- warnings
are highly recommended to fix
- errors
have to be fixed
- messages / success
information

• Verbose mode:
More information during
the test procedure

03/2011 © EtherCAT Technology Group (251)


Frequently Asked Questions (II)

EtherCAT Basics
Slave Structure
• I am an EtherCAT device vendor. Do I have to license
Device Model (ISO/OSI) the conformance test tool?
Physical Layer
Data Link Layer – Yes. The ETG takes conformance very seriously, and the
Frame Structure
Addressing
availability of the conformance test tool at each and every
Commands device vendors R&D lab is an important cornerstone in this
Memory/Registers
SyncManager
process
FMMU
Diagnosis
• Do I have to submit my EtherCAT device to the
Distributed Clocks EtherCAT Test Center for testing?
Application Layer
State Machine – No. Conformance Testing with the Test Tool „at home“ is
Mailbox
Mailbox Interface
sufficient to meet the minimum requirements of the Vendor
EoE Ethernet ID agreement.
CoE CANopen
FoE File Access • Can I get a Conformance Certificate based on the test
SoE Servo Drive
ESI: Device Description
results obtained in my R&D lab?
SII: Slave Information /IF
Device Profiles
– No. The Conformance Certificate can only be issued after
Modular Devices successfully passing the test at an accredited EtherCAT
Drives
Configuration Tool
Test Center.
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (252)


Frequently Asked Questions (III)

EtherCAT Basics
Slave Structure
• Does the test in the EtherCAT Test Center exceed the
Device Model (ISO/OSI) test done with the Conformance Test Tool (at home)?
Physical Layer
Data Link Layer – Yes. The test in the EtherCAT Test Center also includes an
Frame Structure
Addressing
interoperability test, checking for conformance regarding
Commands the indicator and labeling spec, the marking rules etc.
Memory/Registers
SyncManager • I know about the EtherCAT Test Center in Nuremberg,
FMMU
Diagnosis
Germany. Will there be other locations, too?
Distributed Clocks
Application Layer
– Yes. In 2009 an EtherCAT Test Center in Japan will be
State Machine established, and there are plans for further test centers in
Mailbox
Mailbox Interface
Europe and North America.
EoE Ethernet
CoE CANopen
• How much is charged for the EtherCAT Conformance
FoE File Access Test at the EtherCAT Test Center?
SoE Servo Drive
ESI: Device Description – Please contact the EtherCAT Test Center for pricing
SII: Slave Information /IF
Device Profiles
information – pricing is not within the scope of ETG.
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (253)


Frequently Asked Questions (IV)

EtherCAT Basics
Slave Structure
• Does the Certificate expire?
Device Model (ISO/OSI) – No. The Certificate confirms that a device of a certain
Physical Layer
Data Link Layer release has passed the current test version in the EtherCAT
Frame Structure Test Center. Of course the Certificate can neither confirm
Addressing
Commands that all future releases of the device will also pass, nor that
Memory/Registers the current device release will pass all future enhancements
SyncManager
FMMU of the EtherCAT Conformance Test.
Diagnosis
Distributed Clocks • Do I have to submit my device again once I released a
Application Layer
State Machine
newer version?
Mailbox – No. However, according to the Vendor ID agreement, you
Mailbox Interface
EoE Ethernet will have to test future releases of your product against the
CoE CANopen conformance test tool in your R&D lab. Of course you may
FoE File Access
SoE Servo Drive also submit your device again to the EtherCAT Test Center
ESI: Device Description and obtain a new certificate!
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (254)


Conformance Testing Procedure

EtherCAT Basics
Slave Structure
• Vendor contacts ETG office if he wants EtherCAT CT
Device Model (ISO/OSI)
Physical Layer
• ETG checks Vendor ID and provides Test Contract –
Data Link Layer which also allows one to select the EtherCAT
Frame Structure
Addressing Conformance Test Center (ETC).
Commands
Memory/Registers • Based on choice of vendor, ETG office forwards request
SyncManager
FMMU
to ETC
Diagnosis
Distributed Clocks
• ETC provides formal offer to vendor (ETG is not involved
Application Layer in any financial transaction)
State Machine
Mailbox • ETC provides checklist to vendor (how to prepare, what
Mailbox Interface
EoE Ethernet to send, etc.)
CoE CANopen
FoE File Access • Vendor sends device to ETC (or brings it there) .
SoE Servo Drive
ESI: Device Description • ETC tests device.
SII: Slave Information /IF
Device Profiles • ETC sends Test Report to Vendor and to ETG office.
Modular Devices
Drives • If test was passed successfully, ETG provides Certificate.
Configuration Tool
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Conformance Test Mark

EtherCAT Basics
Slave Structure
• Devices that have passed the ETC Conformance Test
Device Model (ISO/OSI) may carry the official conformance test mark
Physical Layer
Data Link Layer • End users are encouraged to include the availability of
Frame Structure
Addressing the conformance test mark in their vendor and device
Commands
Memory/Registers
selection process.
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (256)


Conformance Test Summary

EtherCAT Basics
Slave Structure
• EtherCAT Test Center is operational and available for
Device Model (ISO/OSI) testing
Physical Layer
Data Link Layer • Certificate is issued by ETG after passing test at ETC
Frame Structure
Addressing • Every Vendor shall have (and use!) the Conformance
Commands
Memory/Registers Test Tool
SyncManager
FMMU • Testing at the ETC is optional, but highly recommended
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (257)


Official Conformance Test Center

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
EtherCAT Test Center (ETC), Nuremberg
Physical Layer EtherCAT Test Center
Data Link Layer
Frame Structure
Beckhoff Automation GmbH
Addressing Ostendstraße 196
Commands
Memory/Registers
90482 Nuremberg, Germany
SyncManager Tel.: +49 (911) 5 40 56 20
FMMU
Diagnosis
Fax: +49 (911) 5 40 56 29
Distributed Clocks etc@beckhoff.com
Application Layer
State Machine
Mailbox
Mailbox Interface EtherCAT Test Center (ETC), Kyoto
EoE Ethernet
CoE CANopen
EtherCAT Test Center
FoE File Access ASTEM RI
SoE Servo Drive
ESI: Device Description
134 Chudoji Minami-machi, Shimogyo,
SII: Slave Information /IF Kyoto 600-8813 Japan
Device Profiles
Modular Devices
Tel.: +81 (75) 366 0143
Drives Fax: +81 (75) 315 2899
Configuration Tool
EtherCAT Master
etc@testlab.astem.or.jp
Standards&Implementation

03/2011 © EtherCAT Technology Group (258)


Conformance Test - Questions?

EtherCAT Basics
Slave Structure
Device Model (ISO/OSI)
• If you have comments regarding the Conformance Test
Physical Layer Procedure, please address them directly to
Data Link Layer
Frame Structure conformance@ethercat.org
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive
ESI: Device Description
SII: Slave Information /IF
Device Profiles
Modular Devices
Drives
Configuration Tool
EtherCAT Master
Standards&Implementation

03/2011 © EtherCAT Technology Group (259)


Thanks for your attention! Any Questions?

EtherCAT Basics Please visit


Slave Structure
Device Model (ISO/OSI)
Physical Layer
www.ethercat.org
Data Link Layer for more information
Frame Structure
Addressing
Commands
Memory/Registers
SyncManager
FMMU
Diagnosis
Distributed Clocks
Application Layer
State Machine
Mailbox
Mailbox Interface
EoE Ethernet
CoE CANopen
FoE File Access
SoE Servo Drive EtherCAT Technology Group
ESI: Device Description Headquarters
SII: Slave Information /IF Ostendstraße 196
Device Profiles
90482 Nuremberg, Germany
Modular Devices
Phone: +49 911 54056 20
Drives
Fax: +49 911 54056 29
Configuration Tool
EtherCAT Master
Email: info@ethercat.org
Standards&Implementation

03/2011 © EtherCAT Technology Group (260)