Cover Slide - Read and Delete: Please Do Not Forward The Slides in PPT Format - Only As PDF!

Cover Slide – Read and Delete
EtherCAT is: EtherCAT Introduction: This slide set intends to provide an overview
- Faster over the most important features of the EtherCAT technology.
- Synchronization Please do not forward the slides in PPT format – only as PDF!
- Industrial Ethernet
It is allowed to modify the slides according to own preferences and
- Flexible
presentation style – e.g. by deleting some slides or adding
- Easier to configure
information regarding own EtherCAT products.
- Cost effective
It is, however, prohibited explicitly to use slides or elements from the
- Easier to implement
slides (e.g. pictures) for any other purpose than to introduce and
- Well proven
promote the EtherCAT technology.
- Open
- Conformance The animations have been developed with and for Microsoft
- Safety PowerPoint 2003. Some elements will not work with earlier versions.
- Redundancy For comments regarding the slides please contact info@ethercat.org
- Versatile
Nuremberg, May 2009,

EtherCAT Technology Group
© EtherCAT Technology Group, 2009 1

The Ethernet Fieldbus.
Why Ethernet for Automation?
EtherCAT is: • Today at controller level: state-of-the-art

- Faster
• Advantages for fieldbuses:
- Synchronization
– lower costs because the use of commodity technology
- Flexible – Ethernet technology is driven by the office sector
- Easier to configure – access to internet technology (e.g. webserver)
- Cost effective – reduction of interfaces
• But: Common Ethernet does not achieve fieldbus
- Well proven
- Open
requirements as…
- Conformance – Low cost, performance, deterministic (real time),…
- Safety
- Redundancy
- Versatile

EtherCAT - The Ethernet Fieldbus.
EtherCAT is: • EtherCAT is real time down to the I/O level

- Faster
• No underlying sub-systems any more
- Synchronization
• No delays in gateways
- Flexible • In- and outputs, sensors, actuators, drives, displays:
- Easier to configure everything in one system!
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is faster
EtherCAT is: • Transmission Rate:

- Faster – 2 x 100 Mbit/s (Fast Ethernet, Full-Duplex)
- Synchronization
- 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
– 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 faster
EtherCAT is: • Bandwidth Usage of Ethernet for I/O and Drives:

- Faster – Ethernet Frame: ≥ 84 Bytes
- Synchronization incl. Preamble + IPG (interpacket gap)
- Flexible Data pay load:
- Easier to configure e.g. 2 Bit..6 Byte
22 Bytes 4 Bytes 12 Bytes
- Cost effective
- Easier to implement Ethernet Header Data: ≥46 Bytes CRC IPG
- Well proven Node

Request with output data
- 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
EtherCAT is: • Bandwidth Usage Comparison:

- Faster – At 4 Byte user data per node:
- Synchronization
• Polling / Timeslicing: ~ 2..5 %
– From 2 Bit user data per node:
- Flexible
• EtherCAT: ~ 80..97 % (Full Duplex, 2 x 100 MBit/s)
- Cost effective
- Easier to implement 100
- Well proven 90
- Open 80
70
- Conformance
60
- Safety
50
- Redundancy
40
- Versatile 30
20
10
0
Polling / EtherCAT
Timeslicing

Functional Principle: Ethernet „on the fly“
EtherCAT is:
- Faster
- Synchronization
- Flexible
Car
- Easier to configure 27
- Cost effective
- 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

EtherCAT is:
- Faster Slave Device Slave Device
- Synchronization
EtherCAT Slave EtherCAT Slave
- Flexible Controller Controller
- Cost effective
- 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 Master
- Synchronization
- Flexible
- Cost effective
HDR 1
HDR 2
HDR 2
Ethernet Header ECAT HDR PLC Data NC Data Data n Ethernet
- 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

Performance: Application Example
EtherCAT is: • 40 Axis (each 20 Byte Input- and Output-Data)

- Faster
• 50 I/O Station with a total of 560 EtherCAT Bus
- Synchronization
Terminals
- Flexible • 2000 Digital + 200 Analog I/O, Bus Length 500 m
- Easier to configure • Performance EtherCAT: Cycle Time = 276 µs
- Cost effective at 44 % Bus Load, Telegram Length = 122 µs
- Well proven
- Open
276 µs
EtherCAT
- Conformance in spite of this cycle time still 56%
- Safety bandwidth remaining, e.g. for TCP/IP
479 µs
SERCOS III
- Redundancy
- Versatile 763 µs
Profinet IRT
2347 µs
Pow erlink
6355 µs
Profinet I/O
0 1000 2000 3000 4000 5000 6000 7000

‘Slow’ Control Systems benefit, too
EtherCAT is: • Reaction time with legacy fieldbus I/O:

- Faster
- Synchronization
I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task
- Flexible
- Cost effective Tmpd
- Well proven
Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle
- Open
- Conformance
- Safety
TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/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)

EtherCAT is: • System Architecture with EtherCAT:

- Faster
- Synchronization
- Flexible
- Easier to configure no dedicated Master Device any more
- Cost effective Tmpd
- Well proven
Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle
- Open
- Conformance
- Safety
TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O
- Redundancy
on underlying extension bus any more
- Versatile

EtherCAT is: • System Architecture with EtherCAT:

- Faster
- Synchronization
- Flexible
- Cost effective
- Well proven
- Open TDMA (NIC)
- Conformance
TDMA = Time for Data Transfer
- Safety
from/to Ethernet Controller via
- Redundancy
TEtherCAT Cycle
Direct Memory Access: neglectible
- Versatile

EtherCAT is: • Reaction Time with EtherCAT:

- Faster
- Synchronization
- Flexible
- 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
Fieldbus: requires Mapping in Control System
EtherCAT is: • Traditional fieldbus system generate physical process

- Faster image
- Synchronization
• This has to be mapped to logical process image(s)
- Flexible
- Cost effective
- Easier to implement Control System, e.g. IPC
- Well proven
DPRAM
- Open Node 1
Fieldbus Scanner/Master
- Conformance Node 1
Data n
- Safety
Node 2
logical process images
Node 2
- Redundancy PLC Data
- Versatile
NC Data Node 3
Node 3
Node 4
Node 4
Mapping

Fieldbus: requires Mapping in Control System
EtherCAT is: • The same applies to control system with just one process
- Faster image
- Synchronization
• Resorting of process data (“Mapping”) is required, too
- Flexible
- Cost effective
- Easier to implement Control System, e.g. IPC
- Well proven
DPRAM
- Open Node 1
Fieldbus Scanner/Master
- Conformance Node 1
- Safety
Node 2
Logical process image
Node 2
- Redundancy Process-
Data
- Versatile
Node 3
Node 3
Node 4
Node 4
Mapping

EtherCAT: Mapping moved into Slave Devices
EtherCAT is: Master
- Faster
- Synchronization
- Flexible
- Easier to configure logical process images up to 4 GByte
- Cost effective
HDR 1
HDR 2
HDR 2
Ethernet Header ECAT HDR PLC Data NC Data Data n Ethernet
- Well proven Data n
- Open PLC Data
- Conformance
- Safety NC Data
Datagram 1 Datagram 2 Datagram n
- Redundancy
- Versatile
• Control System is unburdened, master becomes very

simple
• Data is transmitted according to the application
requirements: extremely fast, flexibly and efficiently
Direct Memory Access saves time
EtherCAT is: • Fieldbus cards: PC Control with Fieldbus cards

- Faster up to 30% of CPU PC RAM
- Synchronization time for data Scanner card, DP RAM
copying Control task
- Flexible
PCI
- Easier to configure CPU memcopy
bus
- Cost effective
- Well proven
- Open
• EtherCAT: PC Control with EtherCAT
- Conformance MAC is PCI Bus PC RAM
- Safety master, data is
CPU
- Redundancy provided by DMA Control task
- Versatile directly to PC RAM: PCI

CPU relieved more MAC
bus
DMA
performance

EtherCAT Propagation Delay Measurement (1)
EtherCAT is: • EtherCAT Node measures time difference between

- Faster 3 leaving and returning frame
- Synchronization
- Flexible
- Cost effective
EtherCAT Frame
- Well proven Processing Direction
- Open EtherCAT Frame
Forwarding Direction
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT Propagation Delay Measurement (2)
EtherCAT is: • EtherCAT Node measures time difference between

- Faster 3 leaving and returning frame
- Synchronization
- Flexible
IPC
Master
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

Distributed Clocks
EtherCAT is: • Precise Synchronization (<< 1 µs!) by exact adjustment

- Faster 3 of Distributed Clocks
- Synchronization
- Flexible
M
S
IPC
Master ∆t
- Cost effective
- Well proven S
S
- Open
- Conformance
- Safety S S S S
- Redundancy
- Versatile

External Clock Synchronization: IEEE 1588
EtherCAT is: • Switchport with integrated IEEE 1588 Boundary Clock

- Faster 3
- Synchronization IEEE 1588
Grandmaster
- Flexible
M Boundary
S Clock
- Cost effective Master
- Well proven S
S
- Open
- Conformance
- Safety S S S S
- Redundancy
- Versatile

Distributed Clocks
EtherCAT is: • Long Term Scope View of two separated devices

- Faster 3 • 300 Nodes in between, 120m Cable Length
- Synchronization
- Flexible
- Cost effective
- Well proven
Simultaneity: ~15 ns
- Open
- Conformance Jitter: ~ +/-20ns
- Safety
- Redundancy
- Versatile

EtherCAT is Industrial Ethernet!
EtherCAT is: • EtherCAT uses Standard Ethernet Frames: IEEE 802.3

- Faster 3 • Alternatively via UDP/IP (if IP Routing is needed)
- Synchronization 3
• no shortened frames
- Flexible
- Easier to configure Standard Ethernet Frame
- Cost effective
- Easier to implement 0..32
48 Bit 48 Bit 16 Bit 16 Bit 48 -1498 Byte Byte 32 Bit
- Well proven
DA SA EtherType Header DatagramEthernet
1 Datagram
Daten2 … Datagram n Pad. CRC
- Open
- Conformance
Embedded in Standard Ethernet EtherCAT Telegram
- Safety Frame, EtherType 0x88A4
- Redundancy
160 Bit 64 Bit 16 Bit 48 -1470 Byte
- Versatile Ethernet Header IP Header UDP H. Header EtherCAT Data Pad. CRC
Or: via UDP/IP

UDP Port 0x88A4
11 Bit 1 Bit 4 Bit
Length Res. Type

EtherCAT is: • fully transparent for TCP/IP

- Faster 3 • all Internet technologies (HTTP, FTP, Webserver,…)
- Synchronization 3 available without restricting the real time capabilites!
- Flexible • full tool access to devices at real time operation –
- Easier to configure with and without TCP/IP
- Cost effective
- Easier to implement EtherCAT Slave Device
- Well proven
Ethernet Real Time
- Open Standard Application Application
- Conformance TCP/IP
Stack TCP UDP
- Safety
- Redundancy Acyclic
IP
Data
- Versatile
Mailbox Process Data
EtherCAT MAC / DLL
Ethernet PHY Ethernet PHY

EtherCAT is: • Any Ethernet Device can be connected to Switchport

- Faster 3 • Access to Webserver with Standard Browser
- Synchronization 3
- Flexible Webserver
Virtual Ethernet
- Easier to configure Switch
- Cost effective Functionality
Switchport
Master
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is: • Virtual Ethernet Switch routes any Ethernet Frame

- Faster 3 • From inside as well as from outside the segment
- Synchronization 3
- Flexible
Virtual Ethernet
Switch
- Cost effective Functionality Switchport
Master
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
Ethernet
Switch

Switchport: Any Ethernet Protocol
EtherCAT is: • Interface to any Ethernet Device or Network

- Faster 3 • Ethernet Frames are inserted into EtherCAT Protocol:
- Synchronization 3
– ‘Ethernet over EtherCAT’
- Flexible
EtherCAT Switchport
- Cost effective
- Easier to implement Ethernet MAC PHY
- Well proven
- Open
RX1 RX2TX
RX RX3 RX4
- Conformance µC
- Safety Fragmentation
- Redundancy
- Versatile
PHY EtherCAT MAC / DLL PHY
TX2
TX3
TX1 TX1
TX3
TX2

Vertical Integration (1)
EtherCAT is: • …via Switchport

- Faster 3
- Synchronization 3
- Industrial Ethernet Master
- Flexible
- Cost effective
- 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

EtherCAT is: • ...via 2. Ethernet Port

- Faster 3
- Synchronization 3
- Flexible
- Cost effective
2nd Ethernet
- Well proven Port
- Open
- Conformance
- Safety
- Redundancy • + EtherCAT performance is not limited
- Versatile
• but: requires second Ethernet Port (at IPC/Controller)

EtherCAT is: • …via Switch

- Faster 3
- Synchronization 3
- Flexible
- Cost effective
Ethernet
- Well proven Switch
- Open
- Conformance
- Safety
- Redundancy • + requires only one Ethernet Port (at IPC/Controller)
- Versatile
• but: performance reduced by switch delay (and generic
Ethernet traffic)

EtherCAT wiring is more flexible
EtherCAT is: • Standard Ethernet Topology: Star

- Faster 3
- Synchronization 3
- Industrial Ethernet 3
- Flexible
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is: • Flexible tree structures – arbitrarily extendable

- Faster 3 – Topology variants like Line, Star, Tree, Daisy Chain
- Synchronization 3 + Drop Lines possible; can be used in any combination!
– Up to 65.535 nodes for each EtherCAT segment
- Flexible
– Standard Ethernet cabling
Line
- Cost effective
- Well proven
- Open
Master
- Conformance
- Safety
- Redundancy
- Versatile
Drop Line
Star/Tree

EtherCAT is: • Ethernet Signal Variants of EtherCAT:

- Faster 3 – 100BASE-TX (up to 100 m between 2 nodes)
- Synchronization 3 – 100BASE-FX (longer distances between 2 nodes)
- Flexible
– LVDS (for modular devices)
- Easier to configure LVDS*
- Cost effective 100 m
- Well proven
- Open
Master
- Conformance
- Safety
- Redundancy Ethernet on Ethernet on
100BASE-TX 100BASE-FX
- Versatile up to 100 m (fibre optics)
with transformer for longer
coupling Ethernet on LVDS* physical layer: distances
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 Extra Large System Test
EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
10.056
EtherCAT Nodes

EtherCAT instead of PCI
EtherCAT is: • Protection of your investment

- Faster 3 • smooth migration path from legacy fieldbus to EtherCAT
- Synchronization 3 • seamless integration of existing fieldbus devices, e.g.:
- Industrial Ethernet 3 – AS-Interface
- Flexible – CAN, 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
– MPI
– PROFIBUS
– PROFINET IO
– …
• maximum system expandability with low cost fieldbus gateways
EtherCAT is: • Update Times (examples):

- Faster 3 – Process image update-time
- Synchronization 3 via PCI (500 Bytes input and output data each): 400 µs
– Process image update-time
- Flexible
via EtherCAT (1.500 Bytes input and output data): 150 µs
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is: • No Slots in Control System (IPC or PLC) required any

- Faster 3 more
- Synchronization 3 • Nevertheless maximum expandability
- Flexible
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
EtherCAT

EtherCAT is easier to configure
EtherCAT is: • Addressing

- Faster 3 – No manual address setting required
- Synchronization 3 – Addresses can be assigned automatically
- Flexible
– Addresses can be kept
3
- Easier to configure • no new addressing if nodes are added
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is easier to configure
EtherCAT is: • Topology:

- Faster 3 – Automatic topology target/actual comparison
- Synchronization 3
- Flexible 3 • Diagnosis:
- Easier to configure – Diagnosis with exact localization
- Cost effective
- Well proven • Network planning:
- Open – Performance independent of:
- Conformance • Slave implementation
- Safety • Topology (no Switches/Hubs)
- Redundancy
- Versatile

EtherCAT is lower costs (1): Engineering
EtherCAT is: • Implementation / Tools:

- Faster 3 – Standard Network Monitor Tools, e.g. MS Network Monitor
- Synchronization 3 or Wireshark: free of charge
– Parser Software: free of charge
- Flexible 3
- Cost effective • Less effort for Network planning:
– Simplified configuration
- Well proven
– Default settings will work, no network tuning
- Open
- Conformance
- Safety • Improved Diagnosis:
- Redundancy
– Faster error handling leads to less downtime
- Versatile
• Faster Setup:
– No address setting required

EtherCAT is lower costs (2): Hardware
EtherCAT is: • Master:

- Faster 3 – no dedicated plug in card (co-processor)
- Synchronization 3 – on-board Ethernet Port is fine
- Flexible 3
- Easier to configure 3 • Slave:
- Cost effective
– low cost Slave Controller
• FPGA or ASIC
- Well proven 32 Bit
- Open
– for simple devices: no µC needed µC
- Conformance – no powerful µC needed

- Safety
- Redundancy
• Infrastructure:
- Versatile
– no Switches/Hubs required
– Standard Ethernet Cabling + Connectors

EtherCAT is easier to implement: Slave
EtherCAT is: • Slave Implementation:

- Faster 3 – All time critical functions implemented on ASIC or FPGA
- Synchronization 3 • ESC handles Real-time Protocol in Hardware
– Integrated Communication State Machine
- Flexible 3
- Easier to configure – Network Performance independent of
3
- Cost effective 3 • 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 Slave Controller Features: ASIC (1)
EtherCAT is: Name ET1100 ET1200 netX5

- Faster 3 Type ASIC ASIC ASIC
- Synchronization 3
- Industrial Ethernet 3 Hardware Supplier
- Flexible 3
Package BGA128 QFN48 BGA201
- Easier to configure 3 0,8mm Pitch 0,5mm Pitch 0,8mm Pitch
- Cost effective 3 Size 10 x 10 mm 7 x 7 mm 13 x 13 mm
- Easier to implement µC Interface serial/parallel serial* serial (SPI),
- Well proven (8/16-bit, async)* parallel (8/16/32-bit,
async)
- Open
Digital I/O 32 8-16* 16
- Conformance
DPRAM 8 kByte 1 kByte 6 kByte
- Safety
SyncManager 8 4 8
- Redundancy
FMMUs 8 3 8
- Versatile
Distributed Clocks Yes Yes Yes
No. Of Ports 2-4 (MII/E-bus)* 2-3 (E-bus/max. 2 (MII)
1xMII)*
Specials Routable with - Multi Protocol
standard PCB Support
* configurable

EtherCAT Slave Controller Features: ASIC (2)
EtherCAT is:
Name netX 100 netX 500 netX50
- Faster 3 Type ASIC ASIC ASIC
- Synchronization 3
- Flexible 3
- Easier to configure BGA345 BGA345 PBGA
3 Package
1mm Pitch 1mm Pitch 1mm Pitch
- Cost effective 3
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
Digital I/O 16 (GPIO) 16 (GPIO) 32 (GPIO)
- Conformance
256/400 Byte 256/400 Byte
- Safety DPRAM (Mailbox/Process (Mailbox/Process 6 kByte
Data) Data)
- Redundancy
SyncManager 4 4 8
- Versatile
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

EtherCAT Slave Controller Features: FPGA
EtherCAT is:
Name ET1810/ET1811/ET1812 ET1815/ET1816/ET1817
- Faster 3 Type FPGA + IP Core FPGA + IP Core
- Synchronization 3
- Flexible 3 Cyclone I+II+III, Spartan
- Easier to configure 3 Supported Chips Stratix I+II+III+IV+GX+II GX, 3+3E+3A+3AN+3ADSP,
- Cost effective 3 Arria GX Virtex II+II Pro+II Pro X+4+5
- 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®* 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 2 (MII) 2 (MII)
Several IP Core License Several IP Core License

Specials
models available models available
* configurable
EtherCAT is easier to implement: Master
EtherCAT is: • Master Implementation:

- Faster 3 – e.g. with Master Sample Code (Source)
- Synchronization 3 – EtherCAT Configuration Tool
- Flexible
– XML Data format of ESI and ENI
3
- Cost effective 3
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is easier to implement: Master
EtherCAT is: • Example: Master with just one process image

- Faster 3 – typical e.g. for small controllers with one control task
- Synchronization 3 – up to 1488 Byte Process data size
- Industrial Ethernet 3 – Header for Process Data communication remains constant
- Flexible 3
- Easier to configure 3 Ethernet Header ECAT EtherCAT Telegram Ethernet
- Cost effective 3
WKC
Frame EtherCAT
DA SA Type Data Pad. FCS
HDR HDR
- Easier to implement 3 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…

EtherCAT is well proven
EtherCAT is: • In series production since 2003

- Faster 3 • Numerous applications
- Synchronization 3
• Great product variety of
- Flexible 3
available EtherCAT products
- Cost effective 3
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT Architecture + Device Profiles
EtherCAT is:
- Faster EtherCAT Device
3
- Synchronization 3 File System, HTTP, FTP,… DEVICE Application
- Industrial Ethernet 3 Bootloader
The SERCOS* The CANopen Process Data
- Flexible 3 Standard Standard
- Cost effective 3
TCP UDP IDN Object Dictionary
- Well proven IP Service Channel SDO
3 PDO
AT
File Access EN 50325-4 Map-
- Open ping
MDT
IEC 61800-7-204 IEC 61800-7-201
Ethernet IEC 61800-7-304
- Conformance 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 by SI e.V.

Typical EtherCAT Device Architecture
EtherCAT is:
- Faster 3 EtherCAT Device
- Synchronization 3
- Industrial Ethernet HTTP, FTP,… DEVICE Application
3 optional
- Flexible 3 Device Profile
Device Profile
Definitions
Definitions
- Cost effective 3
TCP UDP Parameters
- Easier to implement 3 Cyclic
Synchronous
- Well proven 3 IP Asynchronous Communication
Communication (Implicit
- Open (Explicit Addressing)
- Conformance Ethernet Addressing)
- Safety
EoE CoE/SoE CoE/SoE
- Redundancy
- Versatile
EtherCAT Slave Controller

IEC 61491 EtherCAT Servodrive Architecture
EtherCAT is:
- Faster 3 EtherCAT Device
- Synchronization 3
- Industrial Ethernet HTTP, FTP,… Servodrive Application
3 optional IEC 61800-7-
- Flexible 3 204
is the
- Easier to configure 3 SERCOS*
- Cost effective 3 Drive Profile
TCP UDP IDN
- Easier to implement 3 Process Data:
AT / MDT
- Well proven 3 IP Service Channel
- Open
Servodrive Profile IEC 61800-7-204
- Conformance Ethernet Mapping to EtherCAT: IEC 61800-7-304
- Safety
EoE SoE SoE
- Redundancy
- Versatile
EtherCAT Slave Controller

EtherCAT in IEC 61800-7
EtherCAT is:
IEC 61800-7: Generic Interface and use of profiles for power drive systems
- Faster 3
- Synchronization 3 IEC 61800-7-1: Interface Definition
Annex A: Annex B: Annex C: Annex D:
- Flexible 3 Mapping to Mapping to Mapping to Mapping to
- Easier to configure DS402 CIP PROFIdrive SERCOS*
3
- Cost effective 3
- Easier to implement 3 IEC 61800-7-200: Profile Specifications
- Well proven 3
- Open IEC 61800-7-201: IEC 61800-7-202: IEC 61800-7-203: IEC 61800-7-204:
Profile Profile Profile Profile
- Conformance CiA 402 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

EtherCAT is an open technology
EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible 3 • Foundation: November 2003
- Easier to configure 3 • Tasks: Support, Advancement and Promotion of
- Cost effective 3
EtherCAT
- Well proven 3
• The worlds largest organization dedicated to Industrial
- Open Ethernet
- Conformance • more than 940* member companies from
- Safety
45 countries in 6 continents:
- Redundancy
– Device Manufacturers
- Versatile
– End Users
– Technology Providers
• Membership is open to everybody
*as of Feb 2009

EtherCAT is: • Protocol is disclosed completely:

- Faster 3 – EtherCAT is IEC, ISO and SEMI Standard
- Synchronization 3 (IEC 61158, IEC 61784, ISO 15745, SEMI E54.20)
- Flexible 3
- Cost effective 3
- Well proven
• Slave Controller from several sources available
3
- Open • Slave Controller provides interoperability
- Conformance • ETG organizes Interoperabilitly Testing („Plug Fests“),
- Safety
Workshops and Seminars
- Redundancy
- Versatile
• Conformance Testing + Certificates

EtherCAT is: • Master Stacks for various RTOS available*,

- Faster including Open / Shared Source!
3
- Synchronization
– eCos
3
– Intime
– Linux with RT-Preempt
- Flexible 3 – MICROWARE OS-9
- Easier to configure 3 – On Time RTOS-32
- Cost effective 3 – PikeOS
- Easier to implement 3 – Proconos OS
- Well proven 3 – Real-Time Java
- Open – RMOS
- Conformance
– RT Kernel
– RT-Linux
- Safety
– RTXC Quadros
- Redundancy
– RTAI Linux
- Versatile – QNX
– VxWin + CeWin
– VxWorks
– Windows CE
– Windows XP/XPE with CoDeSys SP RTE
– Windows XP/XPE with TwinCAT RT-Extension
– XENOMAI Linux
*as of May 2009
EtherCAT Technology Group and IEC
EtherCAT is: • Management Board of IEC has approved Liaison of

- Faster 3 EtherCAT Technology Group with IEC SC65C WG
- Synchronization 3 11/12/13 + JWG10 (SC65C: Digital Communication)
- Flexible 3
- Cost effective 3
- Well proven
• Thus ETG is official IEC Standardization Partner
3
- Open
- Conformance
- Safety
- Redundancy
- Versatile

ETG Team Worldwide
EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible 3
- Cost effective 3
- Well proven 3
- Open
- Conformance
- Safety
- Redundancy ETG Office
- Versatile Japan
ETG Headquarters Tokyo
ETG Office Germany ETG Office
North America Nuremberg ETG Office
China
Austin, TX
Beijing Korea
Seoul

ETG Membership Development
EtherCAT is: • As of April 2009: 1000 Members

- Faster 3
- Synchronization 3 1000 1000
- Industrial Ethernet 3 940
- Flexible 3 881 900
820
- Easier to configure 3 800
766
- Cost effective 3 696 700
- Easier to implement 3 634
575 600
- Well proven 3 515
- Open 458 500
404
- Conformance 357 400
321
- Safety 285
240 300
214
- Redundancy 188
169
117136 200
- Versatile 59 89
33
100
Nov-03
May-04
Nov-04
May-05
Nov-05
May-06
Nov-06
May-07
0
Nov-07
May-08
Nov-08
May-09
Members from 45* Countries, 6 Continents
EtherCAT is:
- Faster 3
Australia Austria Belarus Belgium Bosnia and Brazil Canada China
- Synchronization 3 Herzegovina
- Flexible 3
- Easier to configure 3 Croatia Czech Rep Denmark Finland France Germany Greece
- Cost effective 3
- Well proven 3 Hungary India Israel Italy Japan Korea Liechtenstein Lithuania
- Open
- Conformance
- Safety Mexico Netherlands New Zealand Norway Poland Portugal Romania Russia
- Redundancy
- Versatile
Serbia Singapore Slovakia Slovenia South Africa Spain Sweden
Switzerland Taiwan Thailand Turkey Ukraine United Kingdom USA
*as of April 2009

ETG: Active Members
EtherCAT is: • Much more important than membership figures: How

- Faster 3 many are active, how many implement the technology?
- Synchronization 3 • Dec 2008: More than 690 Implementation Kits sold to
- Industrial Ethernet 3 ETG Members (25% Master, 75% Slaves), plus there are
- Flexible 3 Open + Shared Source masters!
- Easier to configure 3 • SPS/IPC/Drives 2008: 60 Vendors with over 180 different
- Cost effective 3 EtherCAT Devices at ETG booth:
– 25 different drives from
- Well proven 3 16 manufacturers jointly
- Open
operating in one network
- Conformance
– 15 different functional
- Safety
Masters in one setup,
- Redundancy using 10 different
- Versatile operating systems
– Safety devices (master
+ slave devices) from 2
manufacturers operating
in one system
– Master to Master and
redundancy live demo
EtherCAT: Large Product Selection
EtherCAT is:
I/O, Controller, HMI, Servo Drives, Variable Speed Drives
- Faster 3
Sensors, Slave + Master Development Kits
- Synchronization 3 Control Panels, Hydraulic Valves
- Industrial Ethernet 3 and Pneumatic Valves,
- Flexible 3 …
- Cost effective 3
- Well proven 3
- Open
- Conformance
- Safety
- Redundancy
- Versatile

Conformance and Interoperability
EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible 3 • Conformance and interoperability are very important
- Easier to configure 3 factors for the success of a communication technology
- Cost effective 3 – Conformity to the specification is an obligation to all users of
the EtherCAT technology
- Well proven 3
– Therefore the EtherCAT Conformance Test Tool (CTT) is
- Open 3
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
officially with issuing a certificate after passing the test at an
offical EtherCAT Test Center (ETC)

Safety over EtherCAT: Features (1)
EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible 3 • Safety over EtherCAT (FSoE) defines a safety
- Easier to configure 3 communication layer for the transportation of safety
- Cost effective 3 process data between Safety over EtherCAT devices.
- Well proven
• FSoE is an open technology within the EtherCAT
3
- Open 3
Technology Group (ETG).
- Conformance 3 • 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:
- Faster 3
- Synchronization 3
- Flexible 3 • FSoE Frame is mapped in the cyclic PDOs
- Easier to configure 3 – Minimum FSoE Frame-Length: 6 Byte
- Cost effective 3 – Maximum FSoE Frame-Length: depending on the number of
safe process data of the Slave Device
- Well proven 3
- Open
– Therefore the protocol is suitable for safe I/O as well as for
3
- Conformance
functional safe motion control
3
- 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.

EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible 3 • The FSoE specification has no restrictions according to:
- Easier to configure 3 – Communication layer and interface
- Cost effective 3 The communication layer is not part of the safety measures:
- Easier to implement 3 black channel
- Well proven 3 (assumed unsolved bit error rate: p = 10-2)
- Open 3 – Transmission speed
- Conformance 3
- 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

Safety over EtherCAT: Routing
EtherCAT is:
- Faster 3
- Synchronization 3
- Flexible 3 • Can be routed via non-safe gateways
- Easier to configure 3 • Can be routed via fieldbus systems
- Cost effective 3
• One Safety technology for (almost) all bus systems
- Well proven 3
- Open 3
- Conformance 3
- Safety
- Redundancy
- Versatile

Safety over EtherCAT: Software Architecture
EtherCAT is: • Black channel approach

- Faster 3 – with safety and non-safety data on the same bus
- Synchronization 3
- Industrial Ethernet 3 Device 1 Device 2
- Flexible 3
- Easier to configure 3 Safety Safety
- Cost effective 3 Application Application
- Well proven 3 Standard Standard
Application Application
- Open 3
- Conformance 3 Safety over Safety over Safety
- Safety EtherCAT EtherCAT over
Protocol Protocol EtherCAT
- Redundancy
- Versatile EtherCAT EtherCAT EtherCAT
Communication Interface Communication Interface DLL and AL
EtherCAT Telegram
Safety data container (FSoE Frame)

Safety over EtherCAT: Hardware Architecture
EtherCAT is: • One channel communication system

- Faster 3 – Model A according to IEC 61784-3 Annex A
- Synchronization 3
- Industrial Ethernet 3 Device 1 Device 2
- Flexible 3
- Easier to configure Controller A Controller B Controller B Controller A
3 Safety Safety Safety Safety
- Cost effective 3 Protocol Protocol Protocol Protocol
Controller A Controller B Controller A Controller B
- Easier to implement 3 Safety Safety Safety Safety
- Well proven Protocol Protocol Protocol Protocol
3
- Open EtherCAT EtherCAT
3
Slave Controller Slave Controller
- Conformance 3
- Safety
PHY PHY PHY PHY
- Redundancy
- Versatile Magnetics Magnetics Magnetics Magnetics
RJ45 RJ45 RJ45 RJ45

Safety over EtherCAT: Frame Structure
EtherCAT is: • Ethernet telegram

- Faster 3
- Synchronization Ethernet EtherCAT
3 1. Datagram 2. Datagram FSC
Header Header
- Flexible 3
- Cost effective 3
Safety over EtherCAT frame
- Well proven 3
- Open 3 CMD SafeData CRC_0 SafeData CRC_1 Conn ID
- Conformance 3
- Safety
- Redundancy – Safety over EtherCAT frame
- Versatile • The FSoE Frame is a data container mapped in the process data
of the devices
• A new FSoE Frame is recognized if at least one bit has changed
according to the last frame
• For every 2 Byte SafeData a 2 Byte CRC is calculated
• Up to n Byte SafeData can be transmitted

Safety over EtherCAT: Safety Measures
EtherCAT is:
Measure Sequence Connection CRC
- Faster Watchdog
3 Error Number ID Calculation
- Synchronization 3 Unintended repetition
- Flexible Loss
3
- Easier to configure 3 Insertion
- Cost effective 3 Incorrect sequence
- Well proven Corruption
3
- Open 3 Unacceptable delay
- Conformance 3 Masquerade
- Safety
- Redundancy Repeating memory errors
in Switches
- Versatile
Incorrect forwarding
between segments

Safety over EtherCAT: Implementation Example
EtherCAT is: • Decentralized Safety-Logic

- Faster 3 • Standard PLC routes the safety messages
- Synchronization 3
- Industrial Ethernet 3 Standard
PLC Safety Inputs
- Flexible 3
- Cost effective 3
- Well proven 3 Safety Outputs
- Open 3
- Conformance 3
- Safety
- Redundancy
- Versatile
S
S
Safety Drives Safety Logic
S

Safety over EtherCAT: Advantages
EtherCAT is: • Fully integrated solution:

- Faster 3 – safe and standard communication in one channel
- Synchronization 3
• Reduction of fieldbuses and interfaces
3
- Flexible 3 • Central configuration, diagnosis and maintenance for
- Easier to configure 3 safe and ‚unsafe‘ I/O in one tool
- Cost effective 3 • Safety application makes full use of EtherCAT
advantages:
- Well proven 3
- Open
– Short reaction times
3
- Conformance 3 – Almost unlimited number of nodes
- Safety – Large network extensions
- Redundancy – Cable redundancy options
- Versatile
– High Flexibility with Hot Connect

EtherCAT: High availability
EtherCAT is: • Cabling redundancy

- Faster 3 – 2nd Ethernet port needed on master side only
- Synchronization 3
• Hot Swap of devices
3
- Flexible 3 • Hot Connect of network segments
Hot Connect
- Easier to configure 3 • Master Redundancy with Hot Swap Group
- Cost effective 3
Master
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile

Without Redundancy: Normal Operation
EtherCAT is:
- Faster 3 EtherCAT Master
- Synchronization 3
- Industrial Ethernet 3 RX Unit TX Unit
- Flexible 3 RX TX
- Cost effective 3 MAC 1
RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile ☺ ☺ ☺
Slave 1 Slave 2 Slave N
RX TX RX TX RX TX
... ...
TX RX TX RX TX RX

Without Redundancy: Cable Failure
EtherCAT is:
- Synchronization 3
- Flexible 3 RX TX
RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile ☺ ☺
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

Without Redundancy: Node Failure
EtherCAT is:
- Synchronization 3
- Flexible 3 RX TX
RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile ☺ ☺
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

With Redundancy: Normal Operation
EtherCAT is:
- Synchronization 3
- Industrial Ethernet 3 RX Unit TX Unit Only 2nd Ethernet
- Flexible Port required –
3 RX TX no special
- Easier to configure 3 Interface Card
- Cost effective 3 MAC 1 MAC 2
RX TX RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile ☺ ☺ ☺
Slave 1 Slave 2 Slave N
RX TX RX TX RX TX
... ...
TX RX TX RX TX RX

With Redundancy: Cable Failure
EtherCAT is:
- Synchronization 3
- Flexible 3 RX TX
RX TX RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile ☺ ☺ ☺ ☺
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

With Redundancy: Node Failure
EtherCAT is:
- Synchronization 3
- Flexible 3 RX TX
RX TX RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile ☺ ☺ ☺ ☺
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

EtherCAT: various system architecture
EtherCAT is: • Master to Slave

- Faster 3 • Slave to Slave
- Synchronization 3 • Master to Master
- Flexible M2S
3
- Cost effective Switchport
3
- Well proven 3 Master
- Open 3
M2M
- Conformance 3
- Safety 3 Switch
Gateways
- Redundancy
3
- Versatile
M2S
Master
S2S

EtherCAT and Wireless Communication
EtherCAT is: • Wireless Devices can be connected via Switchport

- Faster 3 • Wireless segment does not slow down EtherCAT
- Synchronization 3 communication
- Industrial Ethernet 3 • Protocol: EtherCAT Automation Protocol
- Flexible 3 – Pushed and/or Polled Process Data Exchange
- Cost effective
• Wireless Segment transparent for Master Device
3
Master Switchport
- Well proven 3 l
- Open oc o
3 Pr ot
n
- Conformance 3 m atio
to
T Au
- Safety 3 e r CA
- Redundancy Eth
3
- Versatile
e.g. RFID Reader

Why do Companies choose EtherCAT?
EtherCAT is: • High Performance

- Faster 3 – EtherCAT is the fastest Industrial Ethernet technology
- Synchronization 3
• Flexible Topology
3
- Flexible 3
– Benefit not only for widely distributed applications
- Easier to configure 3 • Ease of Use
- Cost effective 3 – Easy configuration and maintenance
- Well proven
• Low Cost
3
- Open 3 – Inexpensive implementation & infrastructure
- Conformance 3 • Functional Safety
- Safety 3 – Safety communication integrated
- Redundancy
3
- Versatile
• Product Variety
– Great variety of available EtherCAT products

EtherCAT Application Fields
EtherCAT is: • Fast applications, e.g.:

- Faster 3 – packaging machines
- Synchronization 3 – high speed presses
- Flexible
– injection molding machines
3
- Easier to configure 3 – woodworking machines
- Cost effective 3 – machine tooling (CNC)
- Easier to implement 3 – test beds
- Well proven 3 – robotics
- Open 3
- Conformance
– …
3
- Safety 3
- Redundancy
3 • Widely distributed applications, e.g.:
- Versatile
– materials handling
– logistics
– data acquisition
– …

EtherCAT Application Fields
EtherCAT is: • Due to low cost master and simple wiring as well:
- Faster 3 – Small Embedded Controller
- Synchronization 3 – Small PLCs
- Flexible
– Any PC based Control Application
3
- Easier to configure • with or without real time requirements
3
- Cost effective 3
• EtherCAT allows one to apply fieldbus technology where
- Well proven 3 cost issues require direct wiring today
- Open 3
- Conformance 3
- Safety 3
- Redundancy
3
- Versatile

EtherCAT - The Ethernet Fieldbus.
EtherCAT is: Please visit

- Faster 3 www.ethercat.org
- Synchronization 3 for more information
- Flexible 3
- Cost effective 3
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
3
- Versatile 3
EtherCAT Technology Group
ETG Headquarters
Ostendstr. 196
90482 Nuremberg, Germany
Phone: +49 911 54056 20
info@ethercat.org

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Nuremberg, May 2009,

© EtherCAT Technology Group, 2009 1

EtherCAT is: • Today at controller level: state-of-the-art

© EtherCAT Technology Group, 2009 3

EtherCAT is: • EtherCAT is real time down to the I/O level

© EtherCAT Technology Group, 2009 4

EtherCAT is: • Transmission Rate:

© EtherCAT Technology Group, 2009 5

EtherCAT is: • Bandwidth Usage of Ethernet for I/O and Drives:

- Well proven Node

– with 4 Byte input + 4 Byte output per node:

© EtherCAT Technology Group, 2009 6

EtherCAT is: • Bandwidth Usage Comparison:

© EtherCAT Technology Group, 2009 7

© EtherCAT Technology Group, 2009 8

© EtherCAT Technology Group, 2009 9

© EtherCAT Technology Group, 2009 10

EtherCAT is: • 40 Axis (each 20 Byte Input- and Output-Data)

0 1000 2000 3000 4000 5000 6000 7000

© EtherCAT Technology Group, 2009 11

EtherCAT is: • Reaction time with legacy fieldbus I/O:

Input Input Output

Tmpd: Master Processing Delay

© EtherCAT Technology Group, 2009 12

EtherCAT is: • System Architecture with EtherCAT:

© EtherCAT Technology Group, 2009 13

EtherCAT is: • System Architecture with EtherCAT:

© EtherCAT Technology Group, 2009 14

EtherCAT is: • Reaction Time with EtherCAT:

EtherCAT is: • Traditional fieldbus system generate physical process

© EtherCAT Technology Group, 2009 16

© EtherCAT Technology Group, 2009 17

EtherCAT is: Master

- Open PLC Data

• Control System is unburdened, master becomes very

EtherCAT is: • Fieldbus cards: PC Control with Fieldbus cards

- Versatile directly to PC RAM: PCI

© EtherCAT Technology Group, 2009 19

EtherCAT is: • EtherCAT Node measures time difference between

© EtherCAT Technology Group, 2009 20

EtherCAT is: • EtherCAT Node measures time difference between

© EtherCAT Technology Group, 2009 21

EtherCAT is: • Precise Synchronization (<< 1 µs!) by exact adjustment

© EtherCAT Technology Group, 2009 22

EtherCAT is: • Switchport with integrated IEEE 1588 Boundary Clock

© EtherCAT Technology Group, 2009 23

EtherCAT is: • Long Term Scope View of two separated devices

© EtherCAT Technology Group, 2009 24

EtherCAT is: • EtherCAT uses Standard Ethernet Frames: IEEE 802.3

Or: via UDP/IP

© EtherCAT Technology Group, 2009 25

EtherCAT is: • fully transparent for TCP/IP

Ethernet PHY Ethernet PHY

© EtherCAT Technology Group, 2009 26

EtherCAT is: • Any Ethernet Device can be connected to Switchport

© EtherCAT Technology Group, 2009 27

EtherCAT is: • Virtual Ethernet Switch routes any Ethernet Frame

© EtherCAT Technology Group, 2009 28

EtherCAT is: • Interface to any Ethernet Device or Network

© EtherCAT Technology Group, 2009 29

EtherCAT is: • …via Switchport

© EtherCAT Technology Group, 2009 30