EtherCAT Workshop @ CERN Sept 20, 2012
Agenda • Detailed EtherCAT Technology introduction: functional principle, topology, performance, synchronization, diagnosis, implementation, redundancy,
safety, costs, … Martin Rostan Executive Director, • EtherCAT application overview: EtherCAT Technology Group why do automation system engineers choose EtherCAT? [email protected] +49 911 540 56-11 • How to implement an EtherCAT Slave Device – if CERN is considering to implement own devices, too….
• Q&A, Open discussion…
21.09.2012 EtherCAT - The Ethernet Fieldbus.
EtherCAT is: • EtherCAT is real time down to the I/O level - Faster • No underlying sub-systems any more - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT - The Ethernet Fieldbus.
EtherCAT is: • Other technologies need local I/O cycles + gateways - Faster - Synchronization RAM
- Industrial Ethernet
- Flexible Topology
- Easier to configure CPU
- Cost effective Driver
Fieldbus
Controller
Extension Bus Extension
- Easier to implement forLocalMaster
I/O I/O I/O I/O - Well proven Flash - Open - Conformance - Safety - Redundancy RAM
- Versatile
CPU
I/O
Driver
Fieldbus Controller
Flash
September 2012 © EtherCAT Technology Group, 2012 EtherCAT - The Ethernet Fieldbus.
EtherCAT is: • EtherCAT: Real time down to the I/O - Faster - Synchronization - Industrial Ethernet
- Flexible Topology
- Easier to configure
- Cost effective
Driver
Controller EtherCAT Controller EtherCAT Controller EtherCAT Controller EtherCAT Controller - Easier to implement EtherCAT - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT - The Ethernet Fieldbus.
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 Topology • 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
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is faster
EtherCAT is: • Transmission Rate: - Faster – 2 x 100 Mbit/s (Fast Ethernet, Full-Duplex) - Synchronization
- Industrial Ethernet - Flexible Topology • 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
September 2012 © EtherCAT Technology Group, 2012 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 Topology 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
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is faster
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 Topology • 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
20
10
0 Polling / EtherCAT Timeslicing
September 2012 © EtherCAT Technology Group, 2012 Functional Principle: Ethernet „on the fly“
EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology Car - Easier to configure 27 - Cost effective - Easier to implement - Well proven - Open - Conformance • Analogy Fast Train: - Safety - Redundancy – “Train” (Ethernet Frame) does not stop - Versatile – Even when watching “Train” through narrow window one sees the entire “Train” – “Car” (Sub-Telegram) has variable length – One can “extract” or “insert” single “persons” (Bits) or entire “groups” (Bytes) – even multiple groups per train
September 2012 © EtherCAT Technology Group, 2012 Functional Principle: Ethernet “on the Fly“
EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
• Efficient: Typically only one Ethernet Frame per Cycle • Ideal Bandwidth Utilization for maximum Performance
September 2012 © EtherCAT Technology Group, 2012 Functional Principle: Ethernet „on the fly“
EtherCAT is: - Faster Slave Device Slave Device - Synchronization - Industrial Ethernet EtherCAT Slave EtherCAT Slave - Flexible Topology 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
September 2012 © EtherCAT Technology Group, 2012 Functional Principle: Ethernet „on the fly“
EtherCAT is: - Faster Master - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure
- Cost effective
- Easier to implement
Ethernet Header ECAT HDR PLC Data 1 NC Data PLC Data 2 CRC
HDR 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
September 2012 © EtherCAT Technology Group, 2012 ‘Slow’ Control Systems benefit, too
EtherCAT is: Reaction time with legacy fieldbus I/O: - Faster - Synchronization - Industrial Ethernet I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task - Flexible Topology - Easier to configure - Cost effective Tmpd - Easier to implement - Well proven - Open Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle - Conformance - Safety T T T T T T T T T T I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O TI/O TI/O TI/O TI/O TI/O - Redundancy best case reaction time - Versatile worst case reaction time Input Input Output (worst case) (best case)
Tmpd: Master Processing Delay
TI/O: Local I/O Update Time (local Extension Bus + Firmware)
September 2012 © EtherCAT Technology Group, 2012 ‘Slow’ Control Systems benefit, too
EtherCAT is: System Architecture with EtherCAT: - Faster - Synchronization - Industrial Ethernet I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task - Flexible Topology - Easier to configure no dedicated Master Device any more - Cost effective Tmpd - Easier to implement - Well proven - Open Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle - Conformance - Safety T T T T T T T T T T I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O TI/O TI/O TI/O TI/O TI/O - Redundancy on underlying extension bus any more - Versatile
September 2012 © EtherCAT Technology Group, 2012 ‘Slow’ Control Systems benefit, too
EtherCAT is: System Architecture with EtherCAT: - Faster - Synchronization - Industrial Ethernet I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance T = Time for Data Transfer - Safety DMA TDMA (MAC) from/to Ethernet Controller via - Redundancy Direct Memory Access: - Versatile neglectible
TEtherCAT Cycle
September 2012 © EtherCAT Technology Group, 2012 ‘Slow’ Control Systems benefit, too
EtherCAT is: Reaction Time with EtherCAT: - Faster - Synchronization - Industrial Ethernet I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task - Flexible Topology - Easier to configure - Cost effective - Easier to implement best case worst case - Well proven - Open EtherCAT Input Input Output - Conformance (worst case) (best case) Bus Cycle - Safety - Redundancy - Versatile • Reaction time reduced significantly with the same controller performance • no underlying local I/O cycles and extension bus delays any more • Due to the very simple protocol no dedicated master systems (e.g. plug-in cards) required
September 2012 © EtherCAT Technology Group, 2012 Fieldbus: requires Mapping in Control System
EtherCAT is: • Traditional fieldbus system generate physical process image - Faster • This has to be mapped to logical process image(s) - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure Control System, e.g. IPC Feldbus Scanner/ node 1 - Cost effective Master DPRAM - Easier to implement node 1 - Well proven Data n - Open node 2 PLC Data node 2 - Conformance NC Data - Safety node 3 - Redundancy node 4 - Versatile images process logical node 3
Mapping
node 4
September 2012 © EtherCAT Technology Group, 2012 Fieldbus: requires Mapping in Control System
EtherCAT is: • The same applies to system with just one process image - Faster • Resorting of process data (“Mapping”) is required, too - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure Control System, e.g. PLC Feldbus Scanner/ node 1 - Cost effective DPRAM Master - Easier to implement node 1 - Well proven - Open node 2 node 2 - Conformance - Safety node 3 - Redundancy node 4 - Versatile image process logical node 3
Mapping
node 4
September 2012 © EtherCAT Technology Group, 2012 EtherCAT: Mapping moved into Slave Devices
EtherCAT is: Master - Faster - Synchronization
- Industrial Ethernet - Flexible Topology
- Easier to configure
- Cost effective ECAT
Ethernet Header PLC Data NC Data Data n Ethernet
HDR HDR 2 HDR 3 HDR HDR 1 - Easier to implement - Well proven Data n
- Open PLC Data - Conformance - Safety NC Data Datagram 1 Datagram 2 Datagram n
- Redundancy logical process images up to toupGByte 4 images process logical - Versatile • Control System is unburdened, master becomes very simple • Data is transmitted according to the application requirements: extremely fast, flexibly and efficiently
September 2012 © EtherCAT Technology Group, 2012 Direct Memory Access saves time
EtherCAT is: • Fieldbus cards: PC Control with Fieldbus cards - Faster up to 30% of PC RAM - Synchronization CPU time for Scanner card, DP RAM - Industrial Ethernet Control task data copying - Flexible Topology PCI - Easier to configure CPU memcopy bus - Cost effective - Easier to implement - Well proven - Open • EtherCAT: PC Control with EtherCAT - Conformance MAC is PCI Bus PC RAM - Safety master, data is CPU Control task - Redundancy provided by DMA - Versatile directly to PC RAM: PCI
MAC DMA CPU relieved, bus more performance
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Propagation Delay Measurement (1)
EtherCAT is: • EtherCAT Node measures time difference between - Faster leaving and returning frame - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement EtherCAT Frame - Well proven Processing Direction - Open EtherCAT Frame - Conformance Forwarding Direction - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Propagation Delay Measurement (2)
EtherCAT is: • EtherCAT Node measures time difference between - Faster leaving and returning frame - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure IPC - Cost effective Master - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 Distributed Clocks
EtherCAT is: • Precise Synchronization (<< 1 µs!) by exact adjustment - Faster of Distributed Clocks - Synchronization - Industrial Ethernet - Flexible Topology 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
September 2012 © EtherCAT Technology Group, 2012 Distributed Clocks
EtherCAT is: • Long Term Scope View of two separated devices - Faster • 300 Nodes in between, 120m Cable Length - Synchronization - Industrial Ethernet - Flexible Topology 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
September 2012 © EtherCAT Technology Group, 2012 Synchronization of multiple Networks
EtherCAT is: • EtherCAT networks can be coupled via EtherCAT Bridge - Faster • Bridge provides hardware synchronization of several networks - Synchronization - Industrial Ethernet - Flexible Topology M - Easier to configure 1 - Cost effective - Easier to implement - Well proven M2 - Open - Conformance - Safety - Redundancy M3 - Versatile
September 2012 © EtherCAT Technology Group, 2012 Synchronization of multiple Networks
EtherCAT is: • EtherCAT networks can be coupled via EtherCAT Bridge - Faster • Bridge provides hardware synchronization of several networks - Synchronization - Industrial Ethernet - Flexible Topology M - Easier to configure 1 - Cost effective - Easier to implement - Well proven M2 - Open - Conformance - Safety - Redundancy M3 - Versatile
September 2012 © EtherCAT Technology Group, 2012 External Clock Synchronization: IEEE 1588
EtherCAT is: • Switchport with integrated IEEE 1588 Boundary Clock - Faster - Synchronization IEEE 1588 Grandmaster - Industrial Ethernet - Flexible Topology M Boundary - Easier to configure S Clock - Cost effective Master - Easier to implement - Well proven S S - Open - Conformance
- Safety S S S S - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is Industrial Ethernet!
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 Topology 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
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is Industrial Ethernet!
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 Topology - 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
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is Industrial Ethernet!
EtherCAT is: • Any Ethernet Device can be connected to Switchport - Faster • Access to Webserver with Standard Browser - Synchronization - Industrial Ethernet - Flexible Topology Virtual Ethernet Webserver - Easier to configure Switch Functionality - Cost effective Switchport Master - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is Industrial Ethernet!
EtherCAT is: • Virtual Ethernet Switch routes any Ethernet Frame - Faster • From inside as well as from outside the segment - Synchronization - Industrial Ethernet - Flexible Topology Virtual Ethernet - Easier to configure Switch - Cost effective Functionality Switchport Master - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
Ethernet Switch
September 2012 © EtherCAT Technology Group, 2012 Switchport: Any Ethernet Protocol
RX
EtherCAT is: • Interface to any Ethernet Device or Network - Faster • Ethernet Frames are inserted into EtherCAT Protocol: - Synchronization – ‘Ethernet over EtherCAT’ - Industrial Ethernet - Flexible Topology - Easier to configure EtherCAT Switchport - Cost effective - Easier to implement Ethernet MAC PHY - Well proven - Open RX1 RX2TX RX RX3 RX4 - Conformance µC - Safety Fragmentation - Redundancy - Versatile Mailbox Process Data PHY EtherCAT MAC / DLL PHY
TX2TX3TX1 TX2TX3TX1
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is Industrial Ethernet!
EtherCAT is: • Master TCP/IP Stack can provide remote Mailbox access - Faster via TCP/IP to any EtherCAT device – ideal for tools. - Synchronization • No need for TCP/IP stack in each device: cost reduction - Industrial Ethernet - Flexible Topology Master TCP/IP - Easier to configure Stack provides Online access to device - Cost effective access to Mailbox protocol - Easier to implement Switchport Master - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 Vertical Integration (1)
EtherCAT is: …via Switchport - Faster - Synchronization - Industrial Ethernet Master - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven Switchport - Open - Conformance - Safety + any Ethernet Protocol can be used - Redundancy + requires only one Ethernet Port (at IPC/Controller) - Versatile + EtherCAT performance is not limited
September 2012 © EtherCAT Technology Group, 2012 Vertical Integration (2)
EtherCAT is: ...via 2. Ethernet Port - Faster - Synchronization - Industrial Ethernet Master - Flexible Topology - Easier to configure - Cost effective - Easier to implement 2nd Ethernet - Well proven Port - Open - Conformance - Safety + any Ethernet Protocol can be used - Redundancy + EtherCAT performance is not limited - Versatile - but: requires second Ethernet Port (at IPC/Controller)
September 2012 © EtherCAT Technology Group, 2012 Vertical Integration (3)
EtherCAT is: …via Switch - Faster - Synchronization - Industrial Ethernet Master - Flexible Topology - Easier to configure - Cost effective - Easier to implement Ethernet - Well proven Switch - Open - Conformance - Safety + any Ethernet Protocol can be used - Redundancy + requires only one Ethernet Port (at IPC/Controller) - Versatile - but: performance reduced by switch delay (and generic Ethernet traffic)
September 2012 © EtherCAT Technology Group, 2012 EtherCAT wiring is more flexible
EtherCAT is: • Standard Ethernet Topology: Star - Faster - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT wiring is more flexible
EtherCAT is: • Flexible topologies – 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 Topology - Easier to configure – Standard Ethernet cabling Line - Cost effective - Easier to implement - Well proven - Open Master - Conformance - Safety - Redundancy - Versatile
Drop Line Star/Tree
September 2012 © EtherCAT Technology Group, 2012 EtherCAT wiring is more flexible
ERP EtherCAT is: EtherCAT Automation Protocol - Faster HMI - Synchronization (e.g OPC, HMI Thin Client) Switch - Industrial Ethernet - Flexible Topology - Easier to configure EtherCAT EtherCAT EtherCAT - Cost effective Master Master Master - Easier to implement
- Well proven Slave Slave Slave Slave Slave - Open Device Device Device Device Device - Conformance Slave Slave Slave Slave Switch- EtherCAT EtherCAT - Safety Device Device Device Device port Master Master - Redundancy Slave redundancy Slave Slave Slave Slave - Versatile Device (optional) Device Device Device Device
Slave Slave Slave Slave Slave Device Device Device Device Device
Slave Slave Slave Slave Slave Device Device Device Device Device
EtherCAT Device Protocol processed on the fly
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Extra Large System Test
EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
10.056 EtherCAT Nodes
September 2012 © EtherCAT Technology Group, 2012 EtherCAT wiring is more flexible
EtherCAT is: • Ethernet Signal Variants of EtherCAT: - Faster – 100BASE-TX (up to 100 m between 2 nodes) - Synchronization – 100BASE-FX (up to 20 km between 2 nodes (single mode fibre) ) - Industrial Ethernet - Flexible Topology – LVDS (for modular devices)
- Easier to configure LVDS* - Cost effective 100 m - Easier to implement - Well proven 20 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 20 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 (10 Gigabit Ethernet) September 2012 © EtherCAT Technology Group, 2012 EtherCAT instead of PCI
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 Topology – BACnet MS/TP - Easier to configure – CANopen - Cost effective – CC-Link - Easier to implement – ControlNet - Well proven – DeviceNet - Open – Ethernet/IP - Conformance – FIPIO - Safety – Interbus - Redundancy – IO-Link - Versatile – Lightbus – LonWorks – Modbus Plus, RTU, TCP – PROFIBUS – PROFINET IO – … • maximum system expandability with low cost fieldbus gateways
September 2012 © EtherCAT Technology Group, 2012 EtherCAT instead of PCI
EtherCAT is: • Update Times: - Faster – Process image update-time - Synchronization via PCI (500 Bytes input and output data each): 400 µs - Industrial Ethernet – Process image update-time - Flexible Topology via EtherCAT (1.500 Bytes input and output data): 150 µs - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT instead of PCI
EtherCAT is: • No Slots in Control System (IPC or PLC) required any - Faster more - Synchronization • Nevertheless maximum expandability - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
EtherCAT
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is easier to configure
EtherCAT is: • Topology: - Faster - Synchronization • Automatic Topology Expected/Actual Comparison - Industrial Ethernet - Flexible Topology • Diagnosis: Every node - Easier to configure constantly - Cost effective • Diagnosis with exact Localization monitors checksum - Easier to implement - Well proven M - Open Bit errors are - Conformance detected and - Safety localized - Redundancy - Versatile
Even Timing Errors (e.g. Time Window for Actual Values missed) are detected and stored locally in the chip
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is easier to configure
EtherCAT is: • Network planning: - Faster – Performance independent of: - Synchronization - Industrial Ethernet • Slave implementation - Flexible Topology (no Stacks involved in Process Data Communication) - Easier to configure • Topology (no Switches/Hubs) - Cost effective • Addressing - Easier to implement - Well proven – No manual address setting required - Open – No IP- or MAC-Address Handling Required - Conformance – Addresses can be assigned automatically - Safety - Redundancy – Addresses can be kept - Versatile • no new addressing if nodes are added
September 2012 © EtherCAT Technology Group, 2012 Configuration: Classical Fieldbus Systems
EtherCAT is: 1. Select + Plan Topology according to System Limitations - Faster 2. Configure Node Address at Slave Device - Synchronization 3. Select and Configure Baudrate, - Industrial Ethernet depending on: - Flexible Topology - Easier to configure - Network Length + Topology - Cost effective - EMI-Environment - Easier to implement - Application Requirements - Well proven 4. Select Device Description Files (GSD, EDS) in - Open Configuration Tool - Conformance - Safety 5. Select and Configure Communication Parameters, - Redundancy such as: - Versatile - cyclic Polling - event driven Communication - synchronized or free running 6. Allocate physical to logical Process Image (Mapping)
September 2012 © EtherCAT Technology Group, 2012 Configuration: EtherCAT
EtherCAT is: 1. Select + Plan Topology according to System Limitations - Faster 2. Configure Node Address at Slave Device - Synchronization 3. Select and Configure Baudrate, - Industrial Ethernet depending on: - Flexible Topology - Easier to configure - Network Length + Topology - Cost effective - EMI-Environment - Easier to implement - Application Requirements - Well proven 4. Select Device Description Files (GSD, EDS) in - Open Configuration Tool - Conformance - Safety 5. Select and Configure Communication Parameters, - Redundancy such as: - Versatile - cyclic Polling - event driven Communication - synchronized or free running 6. Allocate physical to logical Process Image (Mapping)
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is lower costs (1): Engineering
EtherCAT is: • Less effort for Network planning: - Faster – Simplified configuration - Synchronization - Industrial Ethernet – Default settings will work, no network tuning - Flexible Topology • Improved Diagnosis: - Easier to configure - Cost effective – Faster error handling leads to less downtime - Easier to implement • Faster Setup: - Well proven - Open – No address setting required - Conformance • Implementation / Tools: - Safety - Redundancy – Standard Network Monitor Tools, - Versatile e.g. MS Network Monitor or Wireshark: free of charge – Parser Software: free of charge
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is lower costs (2): Hardware
EtherCAT is: • Master: - Faster – no dedicated plug in card (co-processor) - Synchronization - Industrial Ethernet – on-board Ethernet Port is fine - Flexible Topology - 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
September 2012 © EtherCAT Technology Group, 2012 Device + Infrastructure Cost Comparison
EtherCAT is: Example Configuration - Faster - Synchronization (e.g. Beckhoff Products) - Industrial Ethernet • PLC (CX1000) - Flexible Topology - Easier to configure • 10 Bus Stations - Cost effective - Easier to implement • 400 DI / 400 DO - Well proven - Open • 100 m Cable - Conformance • 11 Bus Connectors - Safety (Fieldbus) - Redundancy - Versatile • 21 Bus Connectors (EtherCAT) • Inexpensive „Compact“ Fieldbus Couplers
September 2012 © EtherCAT Technology Group, 2012 Device + Infrastructure Cost Comparison
EtherCAT is: Example - Faster Configuration List Price* Difference - Synchronization - Industrial Ethernet - Flexible Topology 100 % - - Easier to configure - Cost effective - Easier to implement 121,5 % + 21,5 % - Well proven - Open - Conformance 123,7 % + 23,7 % - Safety - Redundancy 121,9 % + 21,9 % - Versatile
And just for reference:
143,7 % + 43,7 %
Profinet RT / Ethernet/IP: switches not taken into account * Beckhoff Price List 01/2010 September 2012 © EtherCAT Technology Group, 2012 Why such significant Price Differences?
Master/Scanner Card EtherCAT: no Master HW
6% Bus Coupler with CPU and Bus Coupler and Digital I/O: local extension bus master just EtherCAT Slave Controller
RAM
CPU 12%
Driver
Driver
EtherCAT Controller EtherCAT Controller
Fieldbus
Controller ExtensionBus
Masterfor Local Flash
T-Junction Connectors Simple Straight Connectors
2%
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is easier to implement
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 Topology – 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 - Redundancy – Ultra precise interrupts to µC - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Controller Variety
TI's Sitara™ and other µC + µP families
Hilscher Hilscher netX® 50 netX® 51/52/6 Beckhoff ® ET1100
® Hilscher Beckhoff netX® 100/500 ET1200
IP-Core for FPGA of ® ™ Intel Atom E6x5C IP-Core for Altera® Cyclone™-V IP-Core for IP-Core for Xilinx® ® Altera Spartan™-6 IP-Core for ™ IP-Core Stratix -IV Xilinx® Kintex™-7 Xilinx® IP-Core for ® Spartan™-3 Xilinx Artix™-7 + Zynq™ IP-Core for IP-Core for IP-Core for ESC10/20: Altera® Altera® Altera® IP-Core for Altera® Cyclone™-I Cyclone™-II Cyclone™-III Cyclone™-IV Altera® Stratix™-V
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Controller Features: ASIC (1)
EtherCAT is: Name ET1100 ET1200 - Faster Type ASIC ASIC - Synchronization - Industrial Ethernet Hardware Supplier - Flexible Topology Package BGA128 QFN48 - Easier to configure 0,8mm Pitch 0,5mm Pitch - Cost effective Size 10 x 10 mm 7 x 7 mm - Easier to implement µC Interface serial/parallel serial* - Well proven (8/16bit, sync/async)* - Open Digital I/O 8-32* 8-16* - Conformance General Purpose I/O 0-32* 0-12* - Safety DPRAM 8 kByte 1 kByte - Redundancy SyncManager 8 4 - Versatile FMMUs 8 3 Distributed Clocks Yes Yes No. Of Ports 2-4 (MII/E-bus)* 2-3 (EBUS/max. 1xMII)*
Specials BGA routable with - standard PCB
* configurable September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Controller Features: ASIC (2)
EtherCAT is: Name netX 100 netX 500 netX50 - Faster Type ASIC ASIC ASIC - Synchronization - Industrial Ethernet Hardware Supplier - Flexible Topology - Easier to configure BGA345 BGA345 PBGA324 Package 1mm Pitch 1mm Pitch 1mm Pitch - Cost effective - Easier to implement Size 22x22 mm 22x22 mm 19x19 mm µC-Bus µC-Bus µC-Bus - Well proven µC Interface (internal, 32-bit) (internal, 32-bit) (internal, 32-bit) - Open General Purpose I/O 16 16 32 - Conformance 256/512 Byte 256/512 Byte - Safety DPRAM (Mailbox/Process (Mailbox/Process 6 kByte - Redundancy Data) Data) - Versatile SyncManager 4 4 8 FMMUs 3 3 8 Distributed Clocks Yes Yes Yes No. Of Ports 2 (100BASE-TX) 2 (100BASE-TX) 2 (100BASE-TX) Multi Protocol Multi Protocol Multi Protocol Specials Support, Integrated: Support, Integrated: Support, Integrated: PHYs, ARM-9 µC PHYs, ARM-9 µC PHYs, ARM-9 µC
September 2012 © EtherCAT Technology Group, 2012 ESC Features: Micro-Processor
EtherCAT is: Name Sitara AM3357/3359 - Faster Type ARM MPU - Synchronization - Industrial Ethernet Hardware Supplier - Flexible Topology 324NFBGA Package - Easier to configure 0,8mm Pitch - Cost effective Size 15 * 15 mm - Easier to implement 200 MHz interconnect µC Interface - Well proven (internal, 32bit) - Open Digital I/O 8/8 - Conformance General Purpose I/O >32 - Safety DPRAM 8 kByte - Redundancy SyncManager 8 - Versatile FMMUs 8 Distributed Clocks Yes No. Of Ports 2 MII
Multi Protocol Support, ARM Cortex A8 Specials (275…720 MHz)
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Controller Features: FPGA
Name ET1810/ET1811/ET1812 ET1815/ET1816/ET1817 EtherCAT is: - Faster Type Altera FPGA + IP Core Xilinx FPGA + IP Core - Synchronization Hardware Supplier - Industrial Ethernet Cyclone® II+III+IV E, IV GX, Spartan® 3+3E+3A+3AN+3A DSP - Flexible Topology Stratix® I+II+III+IV+V, GX, II GX, Spartan® 6, Supported Chips - Easier to configure Arria® GX, II GX, II GZ, Kintex™ 7+ 7LP - Cost effective Intel® Atom™ E6x5C Virtex® 4+5+6+7+7LP - Easier to implement Package FPGA dependent FPGA dependent - Well proven Size FPGA dependent FPGA dependent - Open serial/parallel serial/parallel - Conformance µC Interface (8/16-bit, async) (8/16bit, async) AVALON®* PLB®, OPB®* - Safety Digital I/O 8-32* 8-32* - Redundancy DPRAM 1...60 kByte* 1...60 kByte* - Versatile SyncManager 0…8* 0…8* FMMUs 0…8* 0…8* Distributed Clocks Yes* Yes* No. Of Ports 1-3 (MII / max. 2 RMII) 1-3 (MII / max. 2 RMII)
Several IP Core License models Several IP Core License models Specials available available
* configurable September 2012 © EtherCAT Technology Group, 2012 IP-Core Configuration Options (ET18xx)
EtherCAT is: • FPGA resource consumption depends on configuration - Faster • Examples: - Synchronization – Small Configuration: ~ 6,000 LE (Altera Cyclone I) - Industrial Ethernet ~ 3,700 Slices (Xilinx Spartan-3E) - Flexible Topology - Easier to configure • 32Bit digital IO, 1kByte RAM, - Cost effective • without Distributed Clocks, Small Register Set - Easier to implement - Well proven • 2 FMMU, 2 SyncManager - Open – Max. Configuration: ~ 17,000 LE (Altera Cyclone I) - Conformance ~ 11,000 Slices (Xilinx Spartan-3E) - Safety • SPI Slave, 60kByte RAM, - Redundancy • with Distributed Clocks, Full Register Set - Versatile • 8 FMMUs, 8 SyncManager
– Altera (LEs): DC: ~3,000, SM: ~500, FMMU: ~600 – Xilinx (Slices): DC: ~1,900, SM: ~350, FMMU: ~400
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is easier to implement: Slave
EtherCAT is: • Slave Sample Code - Faster – Bus handling contained in EtherCAT Controller - Synchronization – Handling of enhanced EtherCAT State Machine - Industrial Ethernet – Mailbox Handling - Flexible Topology - Easier to configure – Protocol Handler for: - Cost effective • CoE (CANopen over EtherCAT) - Easier to implement • FoE (File Access over EtherCAT) - Well proven • EoE (Ethernet over EtherCAT) - Open • SoE (Servodrive Profile over EtherCAT) - Conformance – Example applications for each protocol - Safety – For usage in own products – comes with the Beckhoff - Redundancy Evaluation Kit! - Versatile – Code is also used in Beckhoff Products
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Implementation: Modules
EtherCAT is: • Slave Communication Modules - Faster – EtherCAT Interface with ET1100 ASIC (FB1111) - Synchronization - Industrial Ethernet – EtherCAT Interface with Altera/Xilinx* FPGA (FB1122/1130) - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven EEPROM - Open ESC - Conformance - Safety
- Redundancy Status PHY LEDs Magnetics - Versatile RJ45
FB1111 FB1122 FB1130
*IP Core required
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Implementation: Modules
EtherCAT is: • EtherCAT Interface comX with netX 500 ASIC - Faster - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Implementation: Modules
EtherCAT is: • EtherCAT Interface Anybus-S with FPGA - Faster - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety • EtherCAT Plug-In module - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Implementation: Eva-Boards
EtherCAT is: • EtherCAT Evaluation kit EL98xx - Faster - Synchronization – with Slave Sample Code (Source) - Industrial Ethernet - Flexible Topology – EtherCAT Slave Controller as ASIC or FPGA - Easier to configure – Full EtherCAT Master Evaluation License included - Cost effective – Several PDI (32 Bit Digital I/O, 8/16-Bit µC, SPI) available - Easier to implement – PIC on-board with debugger interface - Well proven
- Open SPI - Conformance PIC over SPI 32 Bit Digital I/O - Safety PDI Selector Interface
- Redundancy 8/16-bit uC Interface - Versatile
Power Supply
PIC Program and Debug Interface
Programmer Base Board for FPGA EL9800
EtherCAT Slave Controller Board
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Implementation: Eva-Boards
EtherCAT is: • Cyclone III Development Board DBC3C40 - Faster – EtherCAT Slave Controller as FPGA (Cyclone III) - Synchronization • 2 x 10/100 Ethernet PHY - Industrial Ethernet • LVDS TFT interface - Flexible Topology • 16 Mbyte SDRAM - Easier to configure • 1Mbyte SRAM - Cost effective • 8 Mbyte flash - Easier to implement • Security Eprom - Well proven • 1 x UART transceiver - Open • 2 x CAN transceiver - Conformance • 4 x RS485 transceiver - Safety • USB 2.0 OTG - Redundancy • Temperature Sensor - Versatile • 32 pin I/O connector • 16 bit 24V I/O interface • 8 x User LEDs • 2 digit seven segment display • 4 user buttons • navigation key
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Implementation: Eva-Boards
EtherCAT is: • netX100 Network Evaluation Board - Faster - Synchronization - Industrial Ethernet – with EtherCAT protocol stack - Flexible Topology – EtherCAT Slave Controller as ASIC (netX100) - Easier to configure - Cost effective – Can work as Master or Slave in the network - Easier to implement • 4 MByte 16-Bit Flash - Well proven • 8 MByte 32-Bit SDRAM - Open • Two Ethernet Ports with Switch and Hub Functionality - Conformance • Fieldbus Interface for AS-Interface (Master only), CANopen, CC- - Safety Link, DeviceNet, InterBus (Master only), PROFIBUS - Redundancy • USB 1.1 Device - Versatile • RS232C-Interface • JTAG-Interface • 16 Switches as Digital Inputs • 16 LEDs as Digital Outputs • Two Digit Address Switch • Reset and Boot Buttons
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Implementation: Eva-Boards
EtherCAT is: • netX500 RE Evaluation Board - Faster - Synchronization - Industrial Ethernet – with Sample Code (on demand) - Flexible Topology – EtherCAT Slave Controller as ASIC (netX500) - Easier to configure - Cost effective – Several PDI available - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Controller without Host Controller
EtherCAT is: 4 Groups of 8 binary Signals - Faster - Synchronization 8 I/O 8 I/O 8 I/O 8 I/O - Industrial Ethernet - Flexible Topology EtherCAT I/O Application - Easier to configure Slave Controller - Cost effective Process Data Service Data - Easier to implement Dual Port Memory non volatile Data EEPROM - Well proven - Open Sync-Manager, FMMU Registers - Conformance
- Safety Auto-Forwarder with Loop Back - Redundancy
- Versatile EtherCAT MAC EtherCAT MAC MII MII
RJ45
Trafo
PHY
PHY
Trafo
RJ45
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Controller without Host Controller
EtherCAT is: • Features - Faster – EtherCAT State Machine - Synchronization • handled by ESC - Industrial Ethernet (EtherCAT Slave Controller) - Flexible Topology – No Mailbox - Easier to configure – No Object Dictionary - Cost effective - Easier to implement – Up to 32 signals can be - Well proven connected directly - Open • 32 Bit input interface - Conformance • 32 Bit output - Safety • 24 Bit input / 8 Bit output - Redundancy • 16 Bit input / 16 Bit output - Versatile • 8 Bit input / 24 Bit output – Boot Configuration and Slave Information (Identification) in serial E²PROM – No Software required
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Controller with Host Controller
EtherCAT is: Host Controller HTTP, - Faster FTP,… RAM for TCP/IP and complex - Synchronization Service TCP/IP Applications Data - Industrial Ethernet Process Data (optional)
- Flexible Topology - Easier to configure EtherCAT Application Mapping Slave - Cost effective Controller - Easier to implement Process Data Mailbox - Well proven Dual Port Memory non volatile Data EEPROM - Open
- Conformance Sync-Manager, FMMU Registers - Safety
- Redundancy Auto-Forwarder with Loop Back - Versatile
EtherCAT MAC EtherCAT MAC MII MII
RJ45
Trafo
PHY
PHY
Trafo
RJ45
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Controller with Host Controller
EtherCAT is: • 8/16-bit µC Interface - Faster – Demultiplexed - Synchronization – Intel Signal Types - Industrial Ethernet – Polarity configurable (BUSY, INT) - Flexible Topology - Easier to configure – Typical µC: - Cost effective • Intel 80x86, Infineon 80C16x, - Easier to implement Hitachi SH1, ST10, ARM, - Well proven TI TMS320 Serie,… - Open - Conformance • SPI - Safety – Up to 10 MBaud - Redundancy – µC is SPI Master - Versatile – Typical µC: • Microchip PIC, DSPic, Intel 80C51,…
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Slave Controller with Host Controller
EtherCAT is: • Features: - Faster – EtherCAT State Machine - Synchronization – CoE (CANopen over EtherCAT): - Industrial Ethernet • Mailbox with SDO Protocol - Flexible Topology • Object Dictionary with Mandatory Objects - Easier to configure – Device Type - Cost effective – Identity Object - Easier to implement – Physical Address - Well proven – PDO Mapping and related Objects - Open – Sync Manager Communication Type - Conformance – Sync Manager PDO Relation - Safety – or: - Redundancy SoE (Servodrive profile (IEC61800-7-204*) over EtherCAT) - Versatile – optional: EoE (Ethernet over EtherCAT)
* also known as SERCOS Standard September 2012 © EtherCAT Technology Group, 2012 Microcontroller Requirements (Slave Host Controller)
EtherCAT is: • Simple (I/O) Devices do not require a µC at all - Faster • Tasks of µC in more complex devices: - Synchronization – Process data exchange with the application - Industrial Ethernet - Flexible Topology – Object Dictionary Handling - Easier to configure – Handling of Application Parameter - Cost effective (Communication Parameter are handled by ESC) - Easier to implement – TCP/IP Stack Handling – if required - Well proven • µC-Performance is determined by Device Application, - Open not by EtherCAT Communication - Conformance - Safety – In many cases an 8-bit µC is sufficient - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is easier to implement: Master
EtherCAT is: • Master Implementation: - Faster – e.g. with Master Sample Code (Source) - Synchronization – EtherCAT Configuration Tool - Industrial Ethernet – XML Data format of ESI and ENI - Flexible Topology - Easier to configure Process Data (PD) Image description - Cost effective Application EtherCAT Realtime - Easier to implement Configuration Tool - Well proven Process Data Mailbox Parser Image Services - Open ..x.xxmmmlll .xml - Conformance init req. resp. EtherCAT Slave EtherCAT Network cyclic r acyclic e - Safety Information (ESI) Files Information (ENI) File t commands s commands a M - Redundancy T A EtherCAT Master Driver C - Versatile optional; for online functionality r e
h Realtime (e.g. scanning for devices) t E
Ethernet Frames
Network Driver
Standard Ethernet MAC
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is easier to implement: Master
EtherCAT is: • Example: Master with just one process image - Faster – typical e.g. for small controllers with one control task - Synchronization – up to 1488 Byte Process data size - Industrial Ethernet – Header for Process Data communication remains constant - Flexible Topology - Easier to configure Ethernet Header ECAT EtherCAT Datagram Ethernet
Frame EtherCAT - Cost effective DA SA Type Data Pad. FCS
HDR HDR WKC - Easier to implement 6 Bit 6 Bit 2 Bit 2 Bit 10 Bit 0….1486 Byte 2 0…32 4 Byte - Well proven - Open constant header completely sorted Working Padding Bytes and - Conformance (mapped) process data Counter: CRC generated by constant Ethernet Controller - Safety (MAC) - Redundancy – Master can be implemented with minimal effort - Versatile – No separate communication processor required (e.g. on plug-in card) – Much simpler that legacy fieldbus systems – Very much simpler than competing Industrial Ethernet approaches…
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is well proven
EtherCAT is: In Series Production since 2003, outstanding Product Variety - Faster - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is an open technology
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 Topology - 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
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Technology Group and IEC
EtherCAT is: • Management Board of IEC has approved Liaison of - Faster EtherCAT Technology Group with IEC SC65C WG - Synchronization 11/12/13 + JWG10 (SC65C: Digital Communication) - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement • Thus ETG is official IEC Standardization Partner - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT in IEC 61800-7
EtherCAT is: IEC 61800-7: Generic Interface and use of profiles for power drive systems - Faster - Synchronization IEC 61800-7-1: Interface Definition - Industrial Ethernet Annex A: Annex B: Annex C: Annex D: - Flexible Topology Mapping to Mapping to Mapping to Mapping to CiA402 CIP PROFIdrive SERCOS* - Easier to configure - Cost effective IEC 61800-7-200: Profile Specifications - Easier to implement - Well proven - Open IEC 61800-7-201: IEC 61800-7-202: IEC 61800-7-203: IEC 61800-7-204: Profile Profile Profile Profile - Conformance CiA402 CIP Motion PROFIdrive SERCOS* - Safety - Redundancy IEC 61800-7-300: Mapping of Profiles to Network Technologies - Versatile
IEC 61800-7-301 IEC 61800-7-304 B C
...... Mapping to Mapping to Mapping to Mapping to Mapping to Mapping to CANopen** EPL EtherCAT SERCOS I/II SERCOS III EtherCAT
*SERCOS interface™ is a trademark of SI e.V. **CANopen™ is a trademark of CAN in Automation e.V. September 2012 © EtherCAT Technology Group, 2012 EtherCAT Architecture + Device Profiles
EtherCAT is: EtherCAT Device - Faster
- Synchronization File System, HTTP, FTP,… DEVICE Application - Industrial Ethernet Bootloader The SERCOS * The CANopen** - Flexible Topology Process Data Standard Standard - Easier to configure - Cost effective TCP UDP IDN Object Dictionary - Easier to implement IP Service Channel SDO - Well proven PDO AT File Access Map- - Open EN 50325-4 MDT IEC 61800-7-204 IEC 61800-7-201 ping Ethernet - Conformance IEC 61800 -7-304 IEC 61800-7-301
- Safety FoE EoE SoE CoE CoE/SoE
- Redundancy Mailbox Process Data
- Versatile EtherCAT Slave Controller
Ethernet Physical Layer
*SERCOS interface™ is a trademark of SI e.V. **CANopen™ is a trademark of CAN in Automation e.V. September 2012 © EtherCAT Technology Group, 2012 EtherCAT Master OS Technology Variety
EtherCAT is: • EtherCAT Masters implemented on wide range of RTOS* – eCos - Faster – Integrity – INtime - Synchronization – Linux with RT-Preempt - Industrial Ethernet – Microware® OS-9 – MQXTM - Flexible Topology – On Time RTOS-32 - Easier to configure – Oracle® Solaris (SunOS) – PikeOS - Cost effective – Proconos OS – QNX® - Easier to implement – Real-Time JavaTM - Well proven – RMOS – RTKernel - Open – RT-Linux – RTX - Conformance – RTXC - Safety – RTAI Linux – SCALE-RT - Redundancy – TKernel – VxWin® + CeWin®+ RTOS32Win®+LxWin - Versatile – VxWorks® – Windows® CE – Windows Embedded mit IntervalZero RTX – Windows® XP/XPE mit CoDeSys SP RTE – Windows® XP/XPE mit TwinCAT RT-Extension – Windows® Vista, 7 – XOberon – XENOMAI Linux – µC/OS-IITM
*as of July 2012 Typical EtherCAT Device Architecture
EtherCAT is: - Faster EtherCAT Device - Synchronization DEVICE Application - Industrial Ethernet HTTP, FTP,… optional - Flexible Topology DeviceDevice Profile DefinitionsDefinitions - Easier to configure - Cost effective - Easier to implement TCP UDP Parameters Cyclic Synchronous - Well proven Asynchronous IP Communication Communication - Open (Implicit (Explicit Addressing) - Conformance Ethernet Addressing) - Safety EoE CoE/SoE CoE/SoE - Redundancy Mailbox Process Data - Versatile EtherCAT Slave Controller
Ethernet Physical Layer
September 2012 © EtherCAT Technology Group, 2012 EtherCAT is an open technology
EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology • Foundation: November 2003 - Easier to configure • Tasks: Support, Advancement and Promotion of - Cost effective EtherCAT - Easier to implement - Well proven • The worlds largest fieldbus organization - Open • More than 2100* member companies from - Conformance 55 countries in 6 continents: - Safety – Device Manufacturers - Redundancy - Versatile – End Users – Technology Providers • Membership is open to everybody
*as of August 2012 September 2012 © EtherCAT Technology Group, 2012 ETG Team Worldwide
Dr. Guido Andrea Bock, Geng Cheng, Bin (Beryl) Fan, Oliver Fels, Florian Hammel, Florian Häfele, Rainer Hoffmann, Liliane Hügel, Beckmann, GER GER CHN CHN GER GER GER GER GER EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement
- Well proven Dr. YanQiang Liu, Prof Dr. Yong-Seon Masanori Obata, Thomas Rettig, Martin Rostan, Makiko Hori, Joseph P. Stubbs, Fengjiao (Jojo) Fu Key Yoo, CHN Moon, KOR JPN GER GER JPN USA CHN KOR - Open - Conformance - Safety - Redundancy - Versatile ETG Office Japan ETG Headquarters ETG Office Yokohama Germany ETG Office North America Nuremberg ETG Office Seattle, WA China Beijing Korea Seoul
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Technology Group Structure
EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 ETG Membership Development
As of August 31st, 2012: 2105 Members EtherCAT is: - Faster - Synchronization 2000 - Industrial Ethernet - Flexible Topology August 2011 – August 2012: - Easier to configure + 380 1500 - Cost effective - Easier to implement - Well proven - Open 1000 - Conformance - Safety - Redundancy - Versatile 500
0
Feb-04 Feb-05 Feb-06 Feb-07 Feb-08 Feb-09 Feb-10 Feb-10 Feb-12
Aug-04 Aug-05 Aug-06 Aug-07 Aug-08 Aug-09 Aug-10 Aug-11 Aug-12
Nov-03 Nov-04 Nov-05 Nov-06 Nov-07 Nov-08 Nov-09 Nov-10 Nov-11
May-11 May-04 May-05 May-06 May-07 May-08 May-09 May-10 May-12
September 2012 © EtherCAT Technology Group, 2012 ETG Membership Distribution
100%
90% Asia
80%
70% EtherCAT Technology America
60% Group is a truly Global Organization 50% Europe 35 w/o Germany > 2100 40%members members
30% Germany
20%
September 2012 © EtherCAT Technology Group, 2012 ETG Members Asia
st EtherCAT is: August 31 2012: 631 Asian Members - Faster 700 - Synchronization Asia (others) - Industrial Ethernet 600 - Flexible Topology Japan Aug 2011 – Aug 2012: - Easier to configure China+Taiwan + 164! - Cost effective 500 - Easier to implement Korea - Well proven 400 - Open - Conformance 300 - Safety - Redundancy 200 - Versatile 100
0
September 2012 © EtherCAT Technology Group, 2012 ETG Members China / Taiwan
st EtherCAT is: August 31 2012: 240 Members from - Faster 250 China+Taiwan - Synchronization - Industrial Ethernet Taiwan - Flexible Topology 200 - Easier to configure China Aug 2011 – Aug 2012: - Cost effective + 39% - Easier to implement 150 - Well proven - Open - Conformance 100 - Safety - Redundancy - Versatile 50
0
September 2012 © EtherCAT Technology Group, 2012 ETG Members Japan
st EtherCAT is: August 31 2012: 247 Japanese Members - Faster - Synchronization 250 - Industrial Ethernet Japan - Flexible Topology - Easier to configure 200 Aug 2011 – Aug 2012: - Cost effective + 40% (!) - Easier to implement 150 - Well proven - Open - Conformance 100 - Safety - Redundancy - Versatile 50
0
September 2012 © EtherCAT Technology Group, 2012 ETG Members America
st EtherCAT is: August 31 2012: 282 American Members - Faster - Synchronization 300 - Industrial Ethernet - Flexible Topology 250 America (others) Aug 2011 – Aug 2012: - Easier to configure + 32% - Cost effective Canada - Easier to implement 200 - Well proven USA - Open 150 - Conformance - Safety 100 - Redundancy - Versatile 50
0
September 2012 © EtherCAT Technology Group, 2012 Members from 55* Countries, 6 Continents
EtherCAT is: - Faster Argentina Australia Austria Belarus Belgium Bosnia and Brazil Bulgaria Herzegovina - Synchronization - Industrial Ethernet
- Flexible Topology Canada China Columbia Croatia Czech Rep Denmark Finland - Easier to configure - Cost effective
- Easier to implement France Germany Greece Hungary India Iran Ireland Israel - Well proven - Open
- Conformance Italy Japan Korea Lebanon Latvia Liechtenstein Lithuania Luxemburg - Safety - Redundancy - Versatile Malta Mexico Netherlands New Zealand Norway Poland Portugal Romania
Russia San Marino Serbia Singapore Slovakia Slovenia South Africa Spain
Sweden Switzerland Taiwan Thailand Turkey Ukraine United Kingdom USA
September 2012 © EtherCAT Technology Group, 2012 *as of August 2012 How many members invest in the technology?
• One indicator: implementation kits sold. EtherCAT is: - Faster • Until now, Beckhoff alone has sold over 1400 kits - Synchronization (78% slave kits, 22%(!) master kits) - Industrial Ethernet • + there are slave implementation kits + master stacks from - Flexible Topology - Easier to configure many other vendors*, such as – Beck IPC - Cost effective – acontis – Deutschmann - Easier to implement esd – EBV Elektronik – - Well proven – Hilscher – igH - Open – IXXAT Automation
– HMS anybus - Conformance
– IXXAT Automation – Kithara
- Safety – koenig-pa – Koenig-PA
- Redundancy
Master – port – MicroSys - Versatile Slave – Red one – Profimatics – Soft Servo Systems – Sybera – ST Microelectronics – … – Terasic Technologies
– Tetra – Xilinx * Only those listed that have entered their offering in the EtherCAT Product Guide – … September 2012 © EtherCAT Technology Group, 2012 ETG: Active Members
EtherCAT is: • Hannovermesse 2012: 65 Vendors with over 280 different - Faster EtherCAT Devices at ETG booth: - Synchronization – 35 different drives from 24 manufacturers - Industrial Ethernet jointly operating in one network - Flexible Topology – 25 different functional Masters in one setup, - Easier to configure using 10 different operating systems - Cost effective Safety devices (master + slave devices) from - Easier to implement – several manufacturers operating in one system - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT: Large Product Selection
EtherCAT is: I/O, Controller, HMI, Servo Drives, Variable Speed Drives - Faster Sensors, Slave + Master Development Kits - Synchronization Control Panels, Hydraulic Valves - Industrial Ethernet and Pneumatic Valves, - Flexible Topology … - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Drive Suppliers
EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 (Vendors that ship or have announced EtherCAT drives as of 9/2012. Not all products shipping yet) Adoption Rate in Masters (Controller)
EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 (Vendors that ship or have announced EtherCAT master devices as of 9/2012. Not all products shipping yet) Adoption Rate in I/O: EtherCAT
• ABB • Knestel EtherCAT is: • Ackermann • Kolektor Synatec • ACS Motion Control • Kollmorgen - Faster • Addi-Data • Kuhnke - Synchronization • Adlink • Lenze • AFT Fahrzeugtechnik • M-System - Industrial Ethernet • Algo System • MaVi • Amoy Dynamics • Messung - Flexible Topology • Anca • MicroControl • AutomationX • Microinnovations/Eaton - Easier to configure • B&R • Mikrap • Balluff • MKS Instruments - Cost effective • Baumüller • MKT Systemtechnik • BBH - Easier to implement • MSC • Beckhoff • MTT - Well proven • Belden • Murrelektronik • Berghof • M-System - Open • Bosch Rexroth • National Instruments • Brunner • Omron - Conformance • CEC • Panasonic SUNX • CSM • Power Instruments - Safety • Deif • Prima Electro • Dina Elektronik - Redundancy • Schweitzer Engineering • dSPACE Laboratories / SEL • Eckelmann - Versatile • SEW Eurodrive • esd • Shanghai Xinhua • Festo • SHF • Gantner • SMC • Grossenbacher • Sontheim • HBM Industrie Elektronik • Helmholz • TETRA • IDS • TexComputer • Imc/Additive • TR Elektronik • Jäger Messtechnik • Turck • Jumo • Unidor • KEB • Unitro • KEBA • VIPA • Keyence (Vendors that ship or have announced EtherCAT I/O devices as of 9/2012. Not all products shipping yet) September 2012 • Wago
Conformance and Interoperability
EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology • 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)
September 2012 © EtherCAT Technology Group, 2012 Safety over EtherCAT
EtherCAT is: Material feeding Muting - Faster Two-Hand control - Synchronization - Industrial Ethernet Protection of workspace - Flexible Topology e.g. with Laser scanner - Easier to configure - Cost effective - Easier to implement Emergency stop - Well proven - Open Operator - Conformance Diagnosis - Safety
- Redundancy Safely-limited - Versatile Position / Speed
Door guarding Setup / with Maintenance Interlocking Safety guard
September 2012 © EtherCAT Technology Group, 2012 Modern Machine Safety Concepts
September 2012 © EtherCAT Technology Group, 2012 Safety over EtherCAT: Features
EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology • 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)
September 2012 © EtherCAT Technology Group, 2012 Safety over EtherCAT: Features (2)
EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology • FSoE Frame is mapped in the cyclic PDOs - Easier to configure – Minimum FSoE Frame-Length: 6 Byte - Cost effective – Maximum FSoE Frame-Length: depending on the number of - Easier to implement safe process data of the Slave Device - Well proven – Therefore the protocol is suitable for safe I/O as well as for - Open functional safe motion control - Conformance - Safety • Confirmed transfer from the FSoE Master to the FSoE - Redundancy Slave and vice versa. - Versatile • Safe Device Parameter can be downloaded from the Master to the Slave at Boot-Up of a FSoE Connection • Certified products with Safety over EtherCAT are available since 2005.
September 2012 © EtherCAT Technology Group, 2012 Safety over EtherCAT: Features (3)
EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology • The FSoE specification has no restrictions according to: - Easier to configure – Communication layer and interface - Cost effective The communication layer is not part of the safety measures: - Easier to implement black channel - Well proven (assumed unsolved bit error rate: p = 10-2) - Open – Transmission speed - Conformance - Safety – Length of safe process data - Redundancy (lenght of safe process data is arbitrary) - Versatile • Routing via unsafe gateways, fieldbus systems or backbones is possible
September 2012 © EtherCAT Technology Group, 2012 Safety over EtherCAT: Software Architecture
EtherCAT is: Device 1 Device 2 - Faster - Synchronization Safety Safety - Industrial Ethernet Application Application - Flexible Topology - Easier to configure Standard Standard Application Application - Cost effective - Easier to implement Safety over Safety over Safety - Well proven EtherCAT EtherCAT over Protocol Protocol EtherCAT - Open - Conformance EtherCAT EtherCAT EtherCAT - Safety Communication Interface Communication Interface DLL and AL - Redundancy - Versatile EtherCAT Telegram
Safety data container (FSoE Frame)
EtherCAT is used as a "black channel" It contains safety and standard information
September 2012 © EtherCAT Technology Group, 2012 Safety over EtherCAT: Hardware Architecture
EtherCAT is: • One channel communication system - Faster According to model A of IEC 61784-3 Annex A - Synchronization - Industrial Ethernet - Flexible Topology Device - Easier to configure - Cost effective Controller A Controller B - Easier to implement Safety Safety Protocol Protocol - Well proven Controller A Controller B - Open Safety Safety Protocol Protocol
- Conformance
Magnetics
RJ45 PHY
- Safety EtherCAT
RJ45
- Redundancy Slave Controller PHY
Magnetics - Versatile In Out Port Port
September 2012 © EtherCAT Technology Group, 2012 Safety over EtherCAT: Frame Structure
Device 1 EtherCAT is: FSoE Frame - Faster Safety Application - Synchronization The FSoE Frame is Standard embedded as a - Industrial Ethernet Application Container in the - Flexible Topology process data of the - Easier to configure FSoE device. Protocol - Cost effective Each device detects - Easier to implement EtherCAT a new FSoE Frame, Communication interface - Well proven if at least one Bit in the FSoE Frame is - Open EtherCAT Frame changed.
- Conformance Ethernet EtherCAT 1. Data- 2. Data- Every 2 Byte SafeData
- Safety Process Data FSC HDR Header Header gram gramFSoE are checked by a 2 - Redundancy Byte CRC - Versatile FSoE Frame The maximum number of SafeData is therefore not restricted by the protocol.
Safe Safe Safe CMD CRC_0 CRC_1 CRC_n Conn ID Data 0 Data 1 Data n
September 2012 © EtherCAT Technology Group, 2012 Safety over EtherCAT: Safety Measures
EtherCAT is: Measure Sequence Connection CRC Watchdog - Faster Error Number ID Calculation - Synchronization Unintended repetition - Industrial Ethernet - Flexible Topology Loss - Easier to configure Insertion - Cost effective Incorrect sequence - Easier to implement Corruption - Well proven - Open Unacceptable delay - Conformance Masquerade - Safety Repeating memory errors - Redundancy in Switches - Versatile Incorrect forwarding between segments
September 2012 © EtherCAT Technology Group, 2012 Safety over EtherCAT: Implementation Example
EtherCAT is: • Decentralized Safety-Logic - Faster • Standard PLC routes the safety messages - Synchronization - Industrial Ethernet Standard PLC Safety Inputs - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven Safety Outputs - Open - Conformance - Safety - Redundancy - Versatile S
S
S Safety Drives Safety Logic S
September 2012 © EtherCAT Technology Group, 2012 Safety over EtherCAT: Advantages
EtherCAT is: • Fully integrated solution: - Faster – safe and standard communication in one channel - Synchronization • Reduction of fieldbuses and interfaces - Industrial Ethernet - Flexible Topology • Central configuration, diagnosis and maintenance for - Easier to configure safe and ‚unsafe‘ I/O in one tool - Cost effective • Safety application makes full use of EtherCAT - Easier to implement advantages: - Well proven – Short reaction times - Open - Conformance – Almost unlimited number of nodes - Safety – Large network extensions - Redundancy – Cable redundancy options - Versatile – High Flexibility with Hot Connect
September 2012 © EtherCAT Technology Group, 2012 Without Redundancy: Normal Operation
EtherCAT is: - Faster EtherCAT Master - Synchronization - Industrial Ethernet RX Unit TX Unit - Flexible Topology RX TX - Easier to configure - Cost effective MAC 1 - Easier to implement RX TX - Well proven - Open - Conformance - Safety - Redundancy - Versatile J J J Slave 1 Slave 2 Slave N
RX TX RX TX RX TX ...... TX RX TX RX TX RX
September 2012 © EtherCAT Technology Group, 2012 Without Redundancy: Cable Failure
EtherCAT is: - Faster EtherCAT Master - Synchronization - Industrial Ethernet RX Unit TX Unit - Flexible Topology RX TX - Easier to configure - Cost effective MAC 1 - Easier to implement RX TX - Well proven - Open - Conformance - Safety - Redundancy - Versatile J J L L Slave 1 Slave 2 Slave N-1 Slave N
RX TX RX TX RX TX RX TX ...... TX RX TX RX TX RX TX RX
September 2012 © EtherCAT Technology Group, 2012 Without Redundancy: Node or Cable Failure
EtherCAT is: - Faster EtherCAT Master - Synchronization - Industrial Ethernet RX Unit TX Unit - Flexible Topology RX TX - Easier to configure - Cost effective MAC 1 - Easier to implement RX TX - Well proven - Open - Conformance - Safety - Redundancy - Versatile J J L L Slave 1 Slave 2 Slave N-2 Slave N-1 Slave N
RX TX RX TX RX TX RX TX RX TX ...... TX RX TX RX TX RX TX RX TX RX
September 2012 © EtherCAT Technology Group, 2012 With Redundancy: Normal Operation
EtherCAT is: Only 2nd - Faster EtherCAT Master Ethernet - Synchronization Port required – - Industrial Ethernet RX Unit TX Unit no special - Flexible Topology RX TX Interface Card - Easier to configure - Cost effective MAC 1 MAC 2 - Easier to implement RX TX RX TX - Well proven - Open - Conformance - Safety - Redundancy - Versatile J J J Slave 1 Slave 2 Slave N
RX TX RX TX RX TX
...... TX RX TX RX TX RX
September 2012 © EtherCAT Technology Group, 2012 With Redundancy: Cable Failure
EtherCAT is: - Faster EtherCAT Master - Synchronization - Industrial Ethernet RX Unit TX Unit - Flexible Topology RX TX - Easier to configure - Cost effective MAC 1 MAC 2 - Easier to implement RX TX RX TX - Well proven - Open - Conformance - Safety - Redundancy - Versatile J J J J Slave 1 Slave 2 Slave N-1 Slave N
RX TX RX TX RX TX RX TX
......
TX RX TX RX TX RX TX RX
Switchover time: < 15µs September 2012 © EtherCAT Technology Group, 2012 With Redundancy: Node or Cable Failure
EtherCAT is: - Faster EtherCAT Master - Synchronization - Industrial Ethernet RX Unit TX Unit - Flexible Topology RX TX - Easier to configure - Cost effective MAC 1 MAC 2 - Easier to implement RX TX RX TX - Well proven - Open - Conformance - Safety - Redundancy - Versatile J J J J Slave 1 Slave 2 Slave N-2 Slave N-1 Slave N
RX TX RX TX RX TX RX TX RX TX
......
TX RX TX RX TX RX TX RX TX RX
September 2012 © EtherCAT Technology Group, 2012 EtherCAT: High availability
EtherCAT is: • Cabling redundancy - Faster – 2nd Ethernet port needed on master side only - Synchronization • Hot Swap of devices - Industrial Ethernet - Flexible Topology • Hot Connect of network segments Hot Connect - Easier to configure • Master Redundancy with Hot Stand By Group - Cost effective - Easier to implement Master - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT: versatile system architecture
EtherCAT is: • Master to Slave - Faster • Slave to Slave - Synchronization • Master to Master - Industrial Ethernet - Flexible Topology M2S - Easier to configure - Cost effective Switchports - Easier to implement - Well proven Master - Open M2M - Conformance - Safety Gateways - Redundancy - Versatile M2S
Master S2S
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Automation Protocol
EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology - Easier to configure - Cost effective - Easier to implement - Well proven - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT Automation Protocol: Application
MES
OPC Controller Visu zum Controller und allen Stationen Je Verbindung: 10ms cycle IN 1kByte OUT 1kByte
IN 600 Byte IN 600 Byte IN 600 Byte IN 600 Byte IN 600 Byte IN 600 Byte IN 600 Byte IN 600 Byte IN 600 Byte OUT 600 Byte OUT 600 Byte OUT 600 Byte OUT 600 Byte OUT 600 Byte OUT 600 Byte OUT 600 Byte OUT 600 Byte OUT 600 Byte
10 ms cycle
Stations- Stations- Stations- Stations- Stations- Stations- Stations- Stations- Stations- Stations- Master Master Master Master Master Master Master Master Master Master
Einschleusen Einschleusen Prozess- Prozess- Prozess- Prozess- Prozess- Ausschleusen Ausschleusen Ausschleusen Kammer Kammer Kammer Kammer Kammer
Ethernet Connection EtherCAT Automation Protocol
EtherCAT Segment OPC
September 2012 © EtherCAT Technology Group, 2012 EtherCAT and Wireless Communication
EtherCAT is: • Wireless Devices can be connected via Switchport - Faster • Wireless segment does not slow down EtherCAT - Synchronization communication - Industrial Ethernet • Protocol: EtherCAT Automation Protocol - Flexible Topology – Pushed and/or Polled Process Data Exchange - Easier to configure • Wireless Segment transparent for Master Device - Cost effective - Easier to implement Master Switchport - Well proven - Open - Conformance - Safety - Redundancy - Versatile
e.g. Card or RFID Reader Master sees process data of underlying system Master with or as local I/O data without control application
September 2012 © EtherCAT Technology Group, 2012 EtherCAT - The Ethernet Fieldbus.
EtherCAT is: - Faster - Synchronization - Industrial Ethernet - Flexible Topology Why go for something slower, - Easier to configure - Cost effective just because it is more - Easier to implement - Well proven expensive? - Open - Conformance - Safety - Redundancy - Versatile
September 2012 © EtherCAT Technology Group, 2012 EtherCAT - The Ethernet Fieldbus.
EtherCAT is: Please visit - Faster www.ethercat.org - Synchronization for more information - Industrial Ethernet - Flexible Topology - 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] September 2012 © EtherCAT Technology Group, 2012