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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
• 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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
Physical
Mag
Mag
RJ45
RJ45
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
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
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
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
Physical
Mag
Mag
RJ45
RJ45
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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.
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
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
Mag
RJ45
RJ45
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
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
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
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
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
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
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
EtherCAT Basics
Start Time
Slave Structure
Device Model (ISO/OSI)
Activation SYNC0 Cycle 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
Drives
SYNC1
Configuration Tool
EtherCAT Master
Standards&Implementation
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
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
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
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
Sync1 Event
Frame Frame
- 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
Sync1 Event
Frame Frame
0x1C32:02 CycleTime
MinCycleTime MinCycleTime
0x1C33:06
(Calc+Copy Time)
Application Application
Frame D U Frame D U
S0 S0
Sync0 Sync0
03/2011 © EtherCAT Technology Group (101)
Master Settings for use of DC
Max. value of
0x1C33:06 U- Frame D U+
Fixed Shift
(precalc.)
Max. value of
0x1C32:06 + 0x1C32:09
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
Physical
Mag
Mag
RJ45
RJ45
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
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
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
EtherCAT Basics
Slave Structure
• ‘Init’ State Init
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
EtherCAT Basics
Slave Structure
• ‘Pre-Operational’ State Init
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
EtherCAT Basics
Slave Structure
• ‘Safe-Operational’ State Init
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
EtherCAT Basics
Slave Structure
• ‘Operational’ State Init
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
EtherCAT Basics
Slave Structure
• ‘Bootstrap’ State Init
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
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
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
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
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
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
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
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
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
Virtual Switch
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
Virtual Switch
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: -
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
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: -
Or
Default Gateway:
192.168.1.100
..
..
DVI
DHCP Resp.
with IP-Address
DHCP Req use: virt. MAC
(BOOTP)
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
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
48 Bit 32 Bit
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
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
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
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 * 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
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
03/2011 © EtherCAT Technology Group * CANopen is a trademark of the CAN in Automation e.V. (144)
Object Dictionary – Example CoE Drive
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
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
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
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
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
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
Client Server
Client Server
Client Server
Mailbox
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
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
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
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 * 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
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
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
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
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
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
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
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
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
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
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 ….
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
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
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
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
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
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
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
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
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
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
Physical
Trafo
Trafo
RJ45
RJ45
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
Standards&Implementation
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
EtherCAT Master
Standards&Implementation
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
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
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
Conformance Testing
+
Product Certification
Frequently Asked Questions
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
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
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
In Wireshark Scan:
NOP Command (Cmd Type0x00)
Version_TestID_GroupID_CaseID
• 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
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
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
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
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
EtherCAT Master
Standards&Implementation
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
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
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
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