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11.05.2011 The Ethernet Fieldbus Joey Stubbs, PE, PMP North American Representative EtherCAT Technology Group

11.05.2011 Ethernet Overview: CSMA/CD, TCP/IP & others

• Architecture • Physical Layer: Signal, Cables + Wiring • Media Access Control • Name Resolution • Routing • IP, TCP + UDP

This diagram was hand drawn by Robert M. Metcalfe and photographed by Dave R. Boggs in 1976 to produce a 35mm slide used to present Ethernet to the National Computer Conference in June of that year. .

11.05.2011 ETG EtherCAT Training Class Ethernet Definition (Wikipedia)

• Ethernet is a frame-based computer networking technology for local area networks (LANs).

• It defines wiring and signaling for the physical layer, and frame formats and protocols for the media access control (MAC)/data link layer of the OSI model.

• Ethernet is mostly standardized as IEEE's 802.3.

• It has become the most widespread LAN technology in use during the 1990s to the present, and has largely replaced all other LAN standards such as token ring, FDDI, and ARCNET.

11.05.2011 ETG EtherCAT Training Class ISO/OSI, IEEE 802 and TCP/IP

ISO/OSI - Model TCP/IP - Model 7 Application Layer 5 Application Layer: contains a variety of commonly used protocols, such as file HTTP, FTP, rlogin, Telnet, DHCP,... transfer, virtual terminal, and email 6 Presentation Layer manages the syntax and semantics of the information transmitted between two computers 5 Session Layer establishes and manages sessions, conversions, or dialogues between two computers 4 Transport Layer 4 Transport Layer: TCP + UDP splits data from the session layer into smaller packets for Handles communication among programs on a network. delivery on the network layer and ensures that the packets arrive correctly at the other end 3 Network Layer 3 Network Layer: IP (Internet Protocol), controls the operation of a packet transmitted from one network This layer is used for basic communication, addressing and routing. to another, such as how to route a packet. 2 Data Link Layer 1/2 Medium Access Control (MAC) transforms a stream of raw bits (0s and 1s) from the physical IEEE 802.3: CSMA/CD (Ethernet), 802.4 Token Bus (ARCnet), 802.5 Token layer into an error-free data frame (packets) for the network layer Ring

1 Physical Layer Cables, cards and physical aspects: ISO/IEC 11801, parts also in IEEE 802.3 transmits signals across a communication medium

11.05.2011 ETG EtherCAT Training Class Ethernet Transmission Media (IEEE 802.3ak)

10BASE2 Thin coax 1000BASE-T Four-pair Category 5 UTP PHY, duplex mode unknown 10BROAD36 Broadband DTE 1000BASE-THD Four-pair Category 5 UTP PHY, half duplexmode 10BASE-T UTP, duplex mode unknown 1000BASE-TFD Four-pair Category 5 UTP PHY, full duplex mode 10BASE-THD UTP, half duplex mode 10GBASE-X X PCS/PMA over undefined PMD 10BASE-TFD UTP, full duplex mode 10GBASE-LX4 X fibre over 4 lane 1310nm optics 10BASE-FP Passive fiber 10GBASE-CX4 X copper over 8 pair 100-Ohm balanced cable 10BASE-FB Synchronous fiber 10GBASE-R R PCS/PMA over undefined PMD 10BASE-FL Asynchronous fiber, duplex mode unknown 10GBASE-ER R fibre over 1550nm optics 10BASE-FLHD Asynchronous fiber, half duplex mode 10GBASE-LR R fibre over 1310nm optics 10BASE-FLFD Asynchronous fiber, full duplex mode 10GBASE-SR R fibre over 850nm optics 100BASE-T4 Four-pair Category 3 UTP 10GBASE-W W PCS/PMA over undefined PMD 100BASE-TX Two-pair Category 5 UTP, duplex mode unknown 10GBASE-EW W fibre over 1550nm optics 100BASE-TXHD Two-pair Category 5 UTP, half duplex mode 10GBASE-LW W fibre over 1310nm optics 100BASE-TXFD Two-pair Category 5 UTP, full duplex mode 10GBASE-SW W fibre over 850nm optics 100BASE-FX X fiber over PMD, duplex mode unknown 100BASE-FXHD X fiber over PMD, half duplex mode 100BASE-FXFD X fiber over PMD, full duplex mode 100BASE-T2 Two-pair Category 3 UTP, duplex mode unknown 100BASE-T2HD Two-pair Category 3 UTP, half duplex mode Large variety of physical layers 100BASE-T2FD Two-pair Category 3 UTP, full duplex mode 1000BASE-X X PCS/PMA over undefined PMD, duplex mode unknown 1000BASE-XHD X PCS/PMA over undefined PMD, half duplex mode 1000BASE-XFD X PCS/PMA over undefined PMD, full duplex mode 1000BASE-LX X fiber over long-wavelength laser PMD, duplex mode unknown 1000BASE-LXHD X fiber over long-wavelength laser PMD, half duplex mode 1000BASE-LXFD X fiber over long-wavelength laser PMD, full duplex mode 1000BASE-SX X fiber over short-wavelength laser PMD, duplex mode unknown 1000BASE-SXHD X fiber over short-wavelength laser PMD, half duplex mode 1000BASE-SXFD X fiber over short-wavelength laser PMD, full duplex mode 1000BASE-CX X copper over 150-Ohm balanced cable PMD, duplex mode unknown 1000BASE-CXHD X copper over 150-Ohm balanced cable PMD, half duplex mode 1000BASE-CXFD X copper over 150-Ohm balanced cable PMD, full duplex mode

11.05.2011 ETG EtherCAT Training Class IEEE 802.3: Media Access Control CSMA/CD

"Carrier-Sense Multiple-Access with Collision-Detection“ – The node that wants to send checks if the media is available “Carrier-Sense“ – All nodes are equal and may send autonomously "Multiple-Access“ – The sender checks after sending if there was a collision "Collision-Detection“ – maximum Ethernet propagation delay: 25,6µs (10MBit/s) (determined by cable length & repeater delays)

Start Transmission

Carrier Sense undisturbed Transmission

Collision Window

11.05.2011 ETG EtherCAT Training Class Media Access Control CSMA/CD

Node A Node B Carrier Signal Propagation Delay Sense Node A Node B Multiple A starts sending Access / Node A Node B Collision B starts sending Detection Node A Collision Node B

11.05.2011 ETG EtherCAT Training Class Ethernet Collision Domain

Hub

B Hub

• Hubs • half duplex • Hub Cascading & Length limited • Some vendors are not compliant with these rules… A

11.05.2011 ETG EtherCAT Training Class Collision Recovery

• “Jamming Signal“ consists of 4-6 Byte 0xFF and is sent after detecting a collision • Delay time before repetition: – First Collision 9,6us + x * 51,2us [x=0 ,1] 50% – Second Collision 9,6us + x * 51,2us [x=0 ,1, 2, 3] 75% – ...Sixth Collision 9,6us + x * 51,2us [x=0 ,1, 2,...1023] 99,9%

Arbitrary Delay Time Transmission Start Collision Detection Carrier Sense Repetition

Jamming-Signal Collision Window

11.05.2011 ETG EtherCAT Training Class Switched Ethernet Topology

Switch

B • Switches Switch • full duplex full duplex communication

Switch sends Queues avoid single cast collisions communication only to the destination port A

11.05.2011 ETG EtherCAT Training Class Ethernet Packet

7 1 6 6 2 46-1500 0-46 4 Byte

Preamble SFD DA SA LEN DATA Pad FCS

Length Data „Payload“ Frame Check Sequence (CRC) Sender Address Padding Field Destination Address

Start Frame Delimiter „10101011“

Preamble “1010101010.....“ used for Bit Synchronisation

• The Length Byte has two meanings: if it is >0x5DC then it describes the type of the “payload“ (Ethertype. e.g. IP 0x0800 or ARP 0x0806 or EtherCAT 0x88A4) • If the data length is <46 Byte, Padding Bytes are introduced to achieve a minimum length of 46 Bytes (for collision detection)

11.05.2011 ETG EtherCAT Training Class Ethernet MAC-ID

„Medium Access Control Address“ • MAC-ID has to be unique • Two Fields of 3 Bytes: – 1. OUI (Organizationally Unique Identifier) – 2. Serial Number • The OUI is assigned by the IEEE Standards Department (USA) • e.g. Beckhoff OUI : - 00 01 05 - http://standards.ieee.org/ regauth/oui/index.shtml

11.05.2011 ETG EtherCAT Training Class Ethernet -TCP/IP Stack

• Structure allows one to exchange protocol layers

8 Bytes

UDP-Hdr. UDP-Data 20 Bytes (IP-Port)

TCP-Header TCP-Data (IP-Port) 20 Bytes

IP-Header IP-Data

(IP-Address) PROT 22 Bytes

Ethernet-Header 46...1500 Bytes Ethernet-Data CRC 00

(MAC-ID) - 08

11.05.2011 ETG EtherCAT Training Class Transport Layer Protocols

These protocols are assigned an IP Protocol number . • AH, IP Authentication Header. • AX.25. • MOSPF, Multicast Open Shortest Path First. • CBT, Core Based Trees. • MTP, Multicast Transport Protocol. • DVMRP, Distance Vector Multicast Routing Protocol. • NARP, NBMA Address Resolution Protocol. • EGP, Exterior Gateway Protocol. • NETBLT, Network Block Transfer. • ESP, Encapsulating Security Payload. • NVP, Network Voice Protocol. • GGP, Gateway to Gateway Protocol. • OSPF, Open Shortest Path First Routing Protocol. • GRE, Generic Routing Encapsulation. • PGM, Pragmatic General Multicast. • HMP, Host Monitoring Protocol. • PIM, Protocol Independent Multicast. • ICMP, Internet Control Message Protocol. • PTP, Performance Transparency Protocol. • ICMPv6, Internet Control Message Protocol for IPv6. • RDP, Reliable Data Protocol. • IDPR, Inter-Domain Policy Routing Protocol. • RSVP, Resource ReSerVation Protocol. • IFMP, Ipsilon Flow Management Protocol. • SCTP, Stream Control Transmission Protocol. • IGAP, IGMP for user Authentication Protocol. • SEND, SEcure Neighbor Discovery. • IGMP, Internet Group Management Protocol. • SDRP, Source Demand Routing Protocol. • IGRP, Interior Gateway Routing Protocol. • SKIP, Simple Key management for Internet Protocol. • IP in IP Encapsulation. • ST, Internet Stream Protocol. • IPPCP, IP Payload Compression Protocol. • TCP, Transmission Control Protocol. • IRTP, Internet Reliable Transaction Protocol. • TMux, Transport Multiplexing Protocol. • ISO-IP. • TP/IX. • L2TP, Level 2 Tunneling Protocol. • UDP, User Datagram Protocol. • Minimal Encapsulation Protocol. • UDP-Lite, Lightweight User Datagram Protocol. • MLD, Multicast Listener Discovery. • VMTP, Versatile Message Transaction Protocol. • Mobility Header • VRRP, Virtual Router Redundancy Protocol.

11.05.2011 ETG EtherCAT Training Class Application Layer Protocols (I)

These protocols are assigned one or more SCTP, TCP or UDP port numbers.

• ACAP, Application Configuration Access Protocol. • Discard, Discard Protocol. • AgentX. • DIXIE. • AODV, Ad hoc On-Demand Distance Vector. • DMSP, Distributed Mail Service Protocol. • APEX, Application Exchange Core. • DNS, Domain Name System. • ATMP, Ascend Tunnel Management Protocol. • DRAP, Data Link Switching Remote Access Protocol. • AURP, AppleTalk Update-based Routing Protocol. • DTCP, Dynamic Tunnel Configuration Protocol. • Authentication Server Protocol. • Echo. • BFTP, Background File Transfer Program. • EMSD, Efficient Mail Submission and Delivery. • BGP, Border Gateway Protocol. • EPP, Extensible Provisioning Protocol. • BOOTP, Bootstrap Protocol. • ESRO, Efficient Short Remote Operations. • CFDP, Coherent File Distribution Protocol. • ETFTP, Enhanced Trivial File Transfer Protocol. • Chargen, Character Generator Protocol. • Finger. • CLDAP, Connection-less Lightweight X.500 Directory • FTP, File Transfer Protocol. Access Protocol. • GDOI, Group Domain of Interpretation. • COPS, Common Open Policy Service. • Gopher. • CRANE, Common Reliable Accounting for Network • HOSTNAME. Element. • HSRP, Hot Standby Router Protocol. • Daytime, Daytime Protocol. • HTTP, HyperText Transfer Protocol. • DCAP, Data Link Switching Client Access Protocol. • ICAP, Internet Content Adaptation Protocol. • DHCP, Dynamic Host Configuration Protocol. • ICP, Internet Cache Protocol. • DHCPv6, Dynamic Host Configuration Protocol for IPv6. • iFCP, Internet Fibre Channel Protocol. • DIAMETER. • IKE, Internet Key Exchange. • DICT, Dictionary Server Protocol. • IMAP, Interactive Mail Access Protocol.

11.05.2011 ETG EtherCAT Training Class Application Layer Protocols (II)

• IPFIX, IP Flow Information Export. • Mobile IP. • IPP, Internet Printing Protocol. • MPP, Message Posting Protocol. • IRC, Internet Relay Chat. • MSDP, Multicast Source Discovery Protocol. • ISAKMP, Internet Security Association and Key • MTP, Mail Transfer Protocol. Management Protocol. • MTQP, Message Tracking Query Protocol. • iSCSI. • MUPDATE, Malbox Update. • IUA, ISDN Q.921-User Adaptation. • NAS, Netnews Administration System. • Kerberos. • NFILE. • Kermit. • NFS, Network File System. • L2F, Layer 2 Forwarding. • NNTP, Network News Transfer Protocol. • L2TP, Level 2 Tunneling Protocol. • NTP, Network Time Protocol. • LDAP, Lightweight Directory Access Protocol. • ODETTE-FTP, ODETTE File Transfer Protocol. • LDP, Label Distribution Protocol. • OLSR, Optimized Link State Routing. • LDP, Loader Debugger Protocol. • Ph. • LFAP, Light-weight Flow Admission Protocol. • Photuris. • LMTP, Local Mail Transfer Protocol. • POP, Post Office Protocol. • LPR. • Portmapper. • MADCAP, Multicast Address Dynamic Client • PPTP, Point to Point Tunneling Protocol. Allocation Protocol. • PWDGEN, Password Generator Protocol. • MASC, Multicast Address-Set Claim. • Quote, Quote of the Day Protocol. • MATIP, Mapping of Airline Traffic over Internet • RADIUS, Remote Authentication Dial-In User Protocol. Service. • Mbus, Message Bus. • RAP, Internet Route Access Protocol. • MGCP, Multimedia Gateway Control Protocol. • RIP, Routing Information Protocol.

11.05.2011 ETG EtherCAT Training Class Application Layer Protocols (III)

• RIPng. • SSP, Switch-to-Switch Protocol. • Rlogin. • STATSRV, Statistics Server. • RLP, Resource Location Protocol. • STUN, Simple Traversal of UDP Through NAT. • RMCP, Remote Mail Checking Protocol. • SUA, Signalling Connection Control Part User • RSIP, Realm Specific IP. Adaptation Layer. • RTCP, RTP Control Protocol. • Syslog. • RTP, Real-Time Transport Protocol. • SYSTAT. • RTSP, Real Time Streaming Protocol. • TACACS. • RWhois, Referral Whois Protocol. • TBRPF, Topology Broadcast based on Reverse-Path • SACRED, Securely Available Credentials. Forwarding. • Send, Message Send Protocol. • Telnet. • SFTP, Simple File Transfer Protocol. • TFTP, Trivial File Transfer Protocol. • SGMP, Simple Gateway Monitoring Protocol. • Time, Time Protocol. • SIFT/UFT, Sender-Initiated/Unsolicited File Transfer. • TRIP, Telephone Routing over IP. • SIP, Session Initiation Protocol. • TSP, Time Stamp Protocol. • SLP, Service Location Protocol. • TUNNEL. • SMTP, Simple Mail Transfer Protocol. • UMSP, Unified Memory Space Protocol. • SMUX. • UUCP. • SNMP, Simple Network Management Protocol. • VEMMI, VErsatile MultiMedia Interface. • SNPP, Simple Network Paging Protocol. • WebDAV, Web Distributed Authoring and Versioning. • SNTP, Simple Network Time Protocol. • Whois. • SOCKS. • Whois++. • SRTCP, Secure RTCP. • Z39.50. • SRTP, Secure Real-time Transport Protocol.

11.05.2011 ETG EtherCAT Training Class Ethernet Introduction: Summary

• Ethernet is the technology described in the IEEE 802.3 standards • The term “Ethernet“ is mistakingly used for a suite of network technologies: Ethernet, IP, TCP, UDP, FTP, HTTP and more, which are also referred to as the “Internet Technologies“ • Stacking of protocol layers – and thus tunneling of protocols – is a key feature of the Internet Technologies. • Ethernet is used on a large variety of physical layers. • Switching topologies have replaced collision domains – CSMA/CD is legacy technology, hubs are outdated. • TCP/IP is a powerful protocol implemented in rather complex software stacks.

11.05.2011 ETG EtherCAT Training Class Okay, Let‟s talk about EtherCAT

EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile

11/05/2011 EtherCAT: Ethernet Control Automation Technology EtherCAT is faster

EtherCAT is: • Bandwidth Usage of Ethernet for I/O and Drives: - Faster – Ethernet Frame: ≥ 84 Bytes - Synchronization incl. Preamble + IPG (interpacket gap) - Industrial Ethernet

- Flexible Data pay load: - Easier to configure e.g. 2 Bit..6 Byte - Cost effective 22 Bytes 4 Bytes 12 Bytes - Easier to implement Ethernet Header Data: ≥46 Bytes CRC IPG - Well proven Request with output data Node - Open Master I/O reaction Response with input data time - Conformance - Safety Ethernet Header Data: ≥46 Bytes CRC IPG - Redundancy - Versatile – with 4 Byte input + 4 Byte output per node: • 4.75% application data ratio at 0 µs reaction time/node • 1.9% application data ratio at 10 µs reaction time/node

EtherCAT is: - Faster • Polling Master Slave - Synchronization • Each Request/Response Modbus - Industrial Ethernet Cycle passes TCP/IP TCP Modbus - Flexible 1 4 TCP Stack 4 Times IP 2 3 - Easier to configure • plus Switch Delays IP - Cost effective 1 - Easier to implement • Depending on Master, - Well proven Poll Request can be - Open issued before the 2 - Conformance corresponding response - Safety has returned. Slave - Redundancy - Versatile 5 Slave 4 3

Slave Slave

March 30, 2006 Industrial Ethernet Technologies Frame Processing within each node

EtherCAT is: - Faster Master EtherCAT Segment (Slaves) - Synchronization IPC - Industrial Ethernet - Flexible - Easier to configure

.. DVI - Cost effective - Easier to implement - Well proven - Open Node n Node n+1 - Conformance DPRAM DPRAM - Safety - Redundancy - Versatile Ethernet Frame EtherCAT EtherCAT Slave Controller Slave Controller

10.07.2008 EtherCAT Communication 30 Functional Principle: Ethernet “on the fly”

EtherCAT is: - Faster Slave Device Slave Device - Synchronization - Industrial Ethernet EtherCAT Slave EtherCAT Slave - Flexible Controller Controller - Easier to configure - Cost effective - Easier to implement - Well proven - Open • Process data is extracted and inserted on the fly: - Conformance – Process data size per slave almost unlimited - Safety (1 Bit…60 Kbyte, if needed using several frames) - Redundancy – Compilation of process data can change in each cycle, e.g. - Versatile ultra short cycle time for axis, and longer cycles for I/O update possible – in addition asynchronous, event triggered communication

EtherCAT is: - Faster EtherCAT Segment - Synchronization - Industrial Ethernet - Flexible - Easier to configure Master - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile

cable Way EtherCAT Frame travels

10.07.2008 EtherCAT Communication 32 Functional Principle: Ethernet “on the fly”

EtherCAT is: - Faster Master - Synchronization - Industrial Ethernet - Flexible - Easier to configure - Cost effective

- Easier to implement ECAT

Ethernet Header PLC Data NC Data Data n Ethernet

HDR 2 HDR 2 HDR HDR 1 - Well proven - Open - Conformance • Minimal protocol overhead via implicit addressing - Safety – Optimized telegram structure for decentralized I/O - Redundancy - Versatile – Communication completely in hardware: maximum (+ predictable!) performance – No switches needed if only EtherCAT devices in the network – Outstanding diagnostic features – Ethernet-compatibility maintained

EtherCAT is: • EtherCAT is real time down to the I/O level - Faster • No underlying sub-systems any more - Synchronization - Industrial Ethernet • No delays in gateways - Flexible • In- and outputs, sensors, actuators, drives, displays: - Easier to configure everything in one system! - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile

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

EtherCAT is: • Bandwidth Usage Comparison: - Faster – At 4 Byte user data per node: - Synchronization • Polling / Timeslicing: ~ 2..5 % - Industrial Ethernet – From 2 Bit user data per node: - Flexible • EtherCAT: ~ 80..97 % (Full Duplex, 2 x 100 MBit/s) - Easier to configure - Cost effective

- Easier to implement 100

- Well proven 90 - Open 80 - Conformance 70 60 - Safety 50 - Redundancy 40 - Versatile 30

0 Polling / EtherCAT Timeslicing

EtherCAT is: • 40 Axis (each 20 Byte Input- and Output-Data) - Faster • 50 I/O Station with a total of 560 EtherCAT Bus Terminals - Synchronization - Industrial Ethernet • 2000 Digital + 200 Analog I/O, Bus Length 500 m - Flexible • Performance EtherCAT: Cycle Time = 276 µs - Easier to configure at 44 % Bus Load, Telegram Length = 122 µs - Cost effective - Easier to implement - Well proven - Open in spite of this cycle time still 56% - Conformance bandwidth remaining, e.g. for TCP/IP - Safety - Redundancy - Versatile

EtherCAT is: • EtherCAT Node measures time difference between - Faster  leaving and returning frame - Synchronization - Industrial Ethernet - Flexible - Easier to configure IPC - Cost effective Master - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile

EtherCAT is: • Precise Synchronization (<< 1 µs!) by exact adjustment - Faster  of Distributed Clocks - Synchronization - Industrial Ethernet - Flexible M - Easier to configure S IPC ∆t - Cost effective Master - Easier to implement - Well proven S S - Open - Conformance

- Safety S S S S - Redundancy - Versatile

EtherCAT is: • Long Term Scope View of two separated devices - Faster  • 300 Nodes in between, 120m Cable Length - Synchronization - Industrial Ethernet - Flexible Interrupt - Easier to configure Node 1 - Cost effective - Easier to implement - Well proven Simultaneousness: ~15 ns - Open - Conformance Jitter: ~ +/-20ns - Safety - Redundancy - Versatile Interrupt Node 300

EtherCAT is: • EtherCAT uses Standard Ethernet Frames: IEEE 802.3 - Faster  • Alternatively via UDP/IP (if IP Routing is needed) - Synchronization  - Industrial Ethernet • no shortened frames - Flexible MTU: max. 1514 Byte - Easier to configure - Cost effective 48 Bit 48 Bit 16 Bit 16 Bit 48 -1498 Byte 32 Bit - Easier to implement Destination Source EtherType Header EtherCAT Datagrams CRC - Well proven - Open Embedded in Standard Ethernet Frame, EtherType 0x88A4 1…n EtherCAT - Conformance Datagrams - Safety 160 Bit 64 Bit 16 Bit 48 -1470 Byte - Redundancy Ethernet H. IP Header UDP H. Header EtherCAT Datagrams CRC - Versatile Or: via UDP/IP UDP Port 0x88A4 11 Bit 1 Bit 4 Bit Length Res. Type

EtherCAT is: • fully transparent for TCP/IP - Faster  • all Internet technologies (HTTP, FTP, Webserver,…) - Synchronization  available without restricting the real time capabilities! - Industrial Ethernet - Flexible - Easier to configure EtherCAT Slave Device - Cost effective - Easier to implement Standard Ethernet Real Time Application Application - Well proven TCP/IP - Open Stack TCP UDP - Conformance - Safety Acyclic IP - Redundancy Data - Versatile Mailbox Process Data EtherCAT MAC / DLL

Ethernet PHY Ethernet PHY

EtherCAT is: • Interface to any Ethernet Device or Network - Faster  • Ethernet Frames are inserted into EtherCAT Protocol: - Synchronization  – „Ethernet over EtherCAT‟ - Industrial Ethernet - Flexible - Easier to configure EtherCAT Switchport - Cost effective - Easier to implement Ethernet MAC PHY - Well proven - Open RX1 RX2TXRX RX3 RX4 - Conformance µC - Safety Fragmentation - Redundancy - Versatile Mailbox Process Data PHY EtherCAT MAC / DLL PHY

TX2TX3TX1 TX2TX3TX1

EtherCAT is: • Standard Ethernet Topology: Star - Faster  - Synchronization  - Industrial Ethernet  - Flexible - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile

EtherCAT is: • Flexible tree structures – arbitrarily extendable - Faster  – Topology variants like Line, Star, Tree, Daisy Chain - Synchronization  + Drop Lines possible; can be used in any combination! - Industrial Ethernet  – Up to 65,535 nodes for each EtherCAT segment - Flexible - Easier to configure – Standard Ethernet cabling Line - Cost effective - Easier to implement - Well proven - Open Master - Conformance - Safety - Redundancy - Versatile

Drop Line Star/Tree

EtherCAT is: • Ethernet Signal Variants of EtherCAT: - Faster  – 100BASE-TX (up to 100 m between 2 nodes) - Synchronization  – 100BASE-FX (up to 2 km between 2 nodes) - Industrial Ethernet  - Flexible – LVDS (for modular devices)

- Easier to configure LVDS* - Cost effective 100 m - Easier to implement - Well proven 2 km - Open Master - Conformance - Safety - Redundancy Ethernet on Ethernet on 100BASE-TX 100BASE-FX - Versatile up to 100 m (fibre optics) with transformer up to 2 km coupling Ethernet on LVDS* physical layer: for modular devices

• Any number of physical layer changes allowed

*LVDS: Low Voltage Differential Signaling according to ANSI/TIA/EIA-644, also used in IEEE 802.3ae (10Gigabit Ethernet) © EtherCAT Technology Group, 2009 48 EtherCAT Extra Large System Test

EtherCAT is: - Faster  - Synchronization  - Industrial Ethernet  - Flexible - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile

10,056 EtherCAT Nodes

EtherCAT is: • Protection of your investment - Faster  • smooth migration path from legacy fieldbus to EtherCAT - Synchronization  • seamless integration of existing fieldbus devices, e.g.: - Industrial Ethernet  – AS-Interface - Flexible – CANopen - Easier to configure – CC-Link - Cost effective – ControlNet - Easier to implement – DeviceNet - Well proven – Ethernet/IP - Open – FIPIO - Conformance – Interbus - Safety – IO-Link - Redundancy – Lightbus - Versatile – LonWorks – Modbus Plus, RTU, TCP – PROFIBUS – PROFINET IO – … • maximum system expandability with low cost fieldbus gateways

EtherCAT is: • Topology: - Faster  – Automatic topology target/actual comparison - Synchronization  - Industrial Ethernet  • Diagnosis: - Flexible  – Diagnosis with exact localization - Easier to configure - Cost effective • Network planning: - Easier to implement – Performance independent of: - Well proven - Open • Slave implementation - Conformance • Topology (no Switches/Hubs) - Safety • Addressing - Redundancy - Versatile – No manual address setting required – Addresses can be assigned automatically – Addresses can be kept • no new addressing if nodes are added

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

EtherCAT is: • Master: - Faster  – no special plug in card (co-processor) - Synchronization  - Industrial Ethernet  – on-board Ethernet Port is fine - Flexible  - Easier to configure  - Cost effective • Slave: - Easier to implement – low cost Slave Controller - Well proven • FPGA or ASIC 32 Bit - Open µC - Conformance – for simple devices: no µC needed - Safety – no powerful µC needed - Redundancy - Versatile • Infrastructure: – no Switches/Hubs required – Standard Ethernet Cabling + Connectors

EtherCAT is: • Slave Implementation: - Faster  – All time critical functions implemented on ASIC or FPGA - Synchronization  • ESC handles Real-time Protocol in Hardware - Industrial Ethernet  – Integrated Communication State Machine - Flexible  – Network Performance independent of - Easier to configure  - Cost effective  • Slave-µC Performance - Easier to implement • Protocol Stack - Well proven – For usage with or without µC (Host CPU) - Open • Integrated DPRAM (1…8kByte) - Conformance • Integrated Distributed Clock Handling - Safety • Ultra precise interrupts to µC - Redundancy - Versatile

EtherCAT is: • Protocol is disclosed completely: - Faster  – EtherCAT is IEC, ISO and SEMI Standard - Synchronization  - Industrial Ethernet  (IEC 61158, IEC 61784, ISO 15745, SEMI E54.20) - Flexible  - Easier to configure  - Cost effective  - Easier to implement  - Well proven  - Open • Slave Controller from several sources available - Conformance - Safety • Slave Controller provides interoperability - Redundancy • ETG organizes Interoperabilitly Testing - Versatile (“Plug Fests”), Workshops and Seminars • Conformance Testing + Certificates

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

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

EtherCAT is: • Decentralized Safety-Logic - Faster  • Standard PLC routes the safety messages - Synchronization  - Industrial Ethernet  Standard PLC Safety Inputs - Flexible  - Easier to configure  - Cost effective  - Easier to implement  - Well proven  Safety Outputs - Open  - Conformance  - Safety - Redundancy - Versatile S

S Safety Drives Safety Logic S

EtherCAT is: • Cabling redundancy - Faster  – 2nd Ethernet port needed on master side only - Synchronization  • Hot Swap of devices - Industrial Ethernet  - Flexible  • Hot Connect of network segments Hot Connect - Easier to configure  Group - Cost effective  - Easier to implement  Master - Well proven  - Open  - Conformance  - Safety  - Redundancy - Versatile

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

EtherCAT is: - Faster  Why go for something slower, - Synchronization  - Industrial Ethernet  just because it is more - Flexible  - Easier to configure  expensive? - Cost effective  - Easier to implement  - Well proven  - Open  - Conformance  - Safety  - Redundancy  - Versatile 

EtherCAT is: Please visit - Faster  www.ethercat.org - Synchronization  for more information - Industrial Ethernet  - Flexible  - Easier to configure  - Cost effective  - Easier to implement  - Well proven  - Open  - Conformance  - Safety  - Redundancy  - Versatile  EtherCAT Technology Group ETG Headquarters Ostendstr. 196 90482 Nuremberg, Germany Phone: +49 911 54056 20 [email protected] © EtherCAT Technology Group, 2009 78