EtherCAT Technology Group EtherCAT Communication Communication Principles 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 1 Agenda EtherCAT Basics Slave Structure • EtherCAT Basics Physical Layer • Slave Structure Device Model (ISO/OSI) Data Link Layer • Physical Layer Frame Structure • Device Model Addressing Commands • Data Link Layer Memory/Registers – Frame Structure SyncManager FMMU – Addressing, Commands Diagnosis – Memory, SyncManager, FMMUs Application Layer State Machine – Diagnosis Mailbox • Application Layer Mailbox Interface EoE Ethernet – State Machine CoE CANopen – Mailbox (Mailbox Protocols) FoE File Access SoE Servo Drive – Slave Information Interface (EEPROM) Slave Information /IF • Device Profiles Device Profiles Modular Devices • Distributed Clocks Drives • Device Description Distributed Clocks Device Description • Tools (Configuration Tool, Monitor, …) Configuration Tool • EtherCAT Master EtherCAT Master Standards&Implementation • Standard & References 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 2 Topology EtherCAT Basics • Flexible Topology Slave Structure Physical Layer • Any number of physical layer changes possible Device Model (ISO/OSI) • Standard Ethernet 100m cable distance between 2 devices Data Link Layer Frame Structure • Up to 65.535 devices possible Addressing Commands Memory/Registers EtherCAT Segment (Slaves) SyncManager FMMU Diagnosis Application Layer State Machine Mailbox Mailbox Interface Master EoE Ethernet CoE CANopen FoE File Access SoE Servo Drive Slave Information /IF Device Profiles Modular Devices Drives Distributed Clocks Device Description Configuration Tool EtherCAT Master Standards&Implementation 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 3 Functional Principle: Ethernet „on the Fly“ EtherCAT Basics Slave Structure Physical Layer Device Model (ISO/OSI) Data Link Layer Frame Structure Addressing Commands Memory/Registers SyncManager FMMU Diagnosis Car Application Layer 27 State Machine Mailbox Mailbox Interface Analogy Fast Train: EoE Ethernet CoE CANopen • „Train“ (Ethernet Frame) does not stop FoE File Access SoE Servo Drive • Even when watching „train“ through narrow window one Slave Information /IF Device Profiles sees the entire train Modular Devices Drives • „Car“ (Sub-Telegram) has variable length Distributed Clocks Device Description • One can „extract“ or „insert“ single „persons“ (Bits) or Configuration Tool EtherCAT Master entire „groups“ – even multiple groups per train Standards&Implementation 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 4 Functional Principle: Ethernet „on the Fly“ EtherCAT Basics Slave Structure Physical Layer Slave Device Slave Device Device Model (ISO/OSI) Data Link Layer Frame Structure Addressing EtherCAT Slave EtherCAT Slave Commands Controller Controller Memory/Registers SyncManager FMMU Diagnosis Application Layer State Machine • Process data is extracted and inserted on the fly Mailbox Mailbox Interface • Process data size per slave almost unlimited EoE Ethernet CoE CANopen (1 Bit…60 Kbyte, if needed using several frames) FoE File Access SoE Servo Drive • Compilation of process data can change in each cycle, Slave Information /IF e.g. ultra short cycle time for axis, and longer cycles for I/O Device Profiles Modular Devices update possible Drives Distributed Clocks • In addition asynchronous, event triggered communication Device Description Configuration Tool EtherCAT Master Standards&Implementation 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 5 Frame Processing within one node EtherCAT Basics Slave Structure Master EtherCAT Segment (Slaves) Physical Layer Device Model (ISO/OSI) Data Link Layer IPC Frame Structure Addressing Commands Memory/Registers .. SyncManager .. DVI FMMU Diagnosis Application Layer State Machine Mailbox vom Master Mailbox Interface EoE Ethernet zum Master CoE CANopen FoE File Access SoE Servo Drive Slave Information /IF Device Profiles Modular Devices Drives Distributed Clocks Device Description Configuration Tool EtherCAT Master Standards&Implementation 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 6 Logical Process Data Image EtherCAT Basics Slave Structure Physical Layer IPC Device Model (ISO/OSI) Data Link Layer Frame Structure DVI .. Addressing .. 32 Commands 2 Telegrammstruktur Memory/Registers Ethernet HDR HDR 1 PLC Data HDR 2 NC Data HDR n Data n CRC SyncManager FMMU Diagnosis Application Layer Data n State Machine Mailbox PLC Data Mailbox Interface NC Data EoE Ethernet Sub- Sub- Sub- CoE CANopen Telegramm 1 Telegramm 2 Telegramm n FoE File Access SoE Servo Drive Slave Information /IF Device Profiles Modular Devices Drives logisches bis Prozessabbild: GByte 4 Distributed Clocks 0 Device Description Configuration Tool EtherCAT Master Standards&Implementation 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 7 EtherCAT Slave Structure EtherCAT Basics EtherCAT Master Slave Structure Physical Layer Device Model (ISO/OSI) EDS Electronic Data Link Layer XML Data Sheet Frame Structure .... DVI Addressing Commands Slave Application Layer Memory/Registers (Mailbox Protocols) SyncManager EtherCAT Host FMMU CPU Diagnosis Slave ESC Application Layer Controller Configuration State Machine Mailbox EEPROM Data Mailbox Interface ESC EoE Ethernet CoE CANopen FoE File Access Trafo SoE Servo Drive RJ45 Slave Information /IF PHY PHY Device Profiles RJ45 Trafo Modular Devices Drives Distributed Clocks Device Description Standard Ethernet Configuration Tool Slave-Hardware EtherCAT Master Physical Layer Components Standards&Implementation 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 8 EtherCAT Slave Evaluation Kit (by Beckhoff) EtherCAT Basics Slave Structure EtherCAT Programmer for PIC Program & Physical Layer Slave Controller Board FPGA Debug Interface Power Device Model (ISO/OSI) Supply Data Link Layer Frame Structure Addressing Commands Memory/Registers SyncManager FMMU Diagnosis Application Layer PDI State Machine Selector Mailbox Basic Mailbox Interface Board EoE Ethernet EL9800 CoE CANopen FoE File Access SPI SoE Servo Drive Slave Information /IF Device Profiles Modular Devices Drives Distributed Clocks Device Description 32 bit 8/16bit µC PIC over SPI Configuration Tool parallel EtherCAT Master interface Standards&Implementation interface 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 9 EtherCAT Slave Controller Board EtherCAT Basics Slave Structure Physical Layer Device Model (ISO/OSI) Data Link Layer Frame Structure Status LED Addressing RJ45 Commands Memory/Registers SyncManager FMMU Diagnosis EtherCAT Application Layer Slave State Machine Trafo Mailbox Controller Mailbox Interface (FPGA) EoE Ethernet CoE CANopen FoE File Access SoE Servo Drive Slave Information /IF PHY EEPROM Device Profiles Modular Devices Drives Distributed Clocks Device Description Configuration Tool EtherCAT Master Standards&Implementation * Post stamp design, not cost and space optimized 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 10 EtherCAT Physical Layers EtherCAT Basics Slave Structure • On cables: 100BaseTX or 100BaseFx Physical Layer Device Model (ISO/OSI) • Device internal: E-Bus (LVDS) Data Link Layer Frame Structure Addressing Ethernet on LVDS physics E-Bus Commands (E-Bus): Memory/Registers for modular devices SyncManager FMMU Diagnosis IPC Application Layer State Machine Mailbox Mailbox Interface EoE Ethernet .. DVI CoE CANopen FoE File Access SoE Servo Drive Slave Information /IF Device Profiles Modular Devices Drives Ethernet on Distributed Clocks 100BASE-TX; any number of Device Description up to 100 m, with physical layer Configuration Tool EtherCAT Master transformer coupling changes allowed Standards&Implementation 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 11 Physical Layer EtherCAT Basics Slave Structure • 100 BASE-TX Physical Layer – Most popular physical layer for Fast Ethernet Device Model (ISO/OSI) Data Link Layer – Shielded twisted pair (STP) with 2 pairs of wires Frame Structure – Cable categories CAT5, 6, 7 can be used Addressing Commands – RJ45 connector standard, M12 connector for IP67 Memory/Registers – PHY Support for auto negotiation and auto crossover SyncManager FMMU recommended Diagnosis • 100 BASE-FX Application Layer State Machine – All media options possible Mailbox – Simple solution for TX-to-FX converter Mailbox Interface EoE Ethernet CoE CANopen • E-BUS FoE File Access SoE Servo Drive – Interface for low cost backplane applications Slave Information /IF – Widely used LVDS (Low Voltage Differential Signaling) Device Profiles adopted Modular Devices Drives – Use Manchester Bit Coding Distributed Clocks – LVDS: Low Voltage Differential Signaling according to Device Description Configuration Tool ANSI/TIA/EIA-644, also used in IEEE 802.3ae (10Gigabit EtherCAT Master Ethernet) Standards&Implementation 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 12 Port Management EtherCAT Basics Slave Structure Physical Layer • A Slave Controller can have up to 4 EtherCAT Ports Device Model (ISO/OSI) Data Link Layer Frame Structure Addressing • If a Port is closed the controller forward it to the next port Commands Ports can be opened/closed automatically with link up or Memory/Registers SyncManager opened closed by EtherCAT command FMMU Diagnosis Application Layer State Machine • The EtherCAT frame processing and forwarding order Mailbox Mailbox Interface depends on logical ports configured: EoE Ethernet