EtherCAT For Embedded Systems
ETG Flyer 03 2008.qxd14.02.200812:30 UhrSeite 1EtherCAT for Embedded Systems
ETG Flyer 03 2008.qxd14.02.200812:30 UhrSeite 2 Content2 EtherCAT Technology GroupEtherCAT Technology Group 33Why EtherCAT for Embedded Systems? It’s faster The fastest system available, It’s versatile with outstanding synchronization features4User and Vendor Statements Performance widely independent of topology No underlying sub-system required any more Meets today’s and tomorrow’s requirementsmaster-slave, slave-slave andmaster-master communication Cyclic and acyclic services for process dataand parameter data Suitable for centralized and distributed controlarchitectures It’s cost effective6EtherCAT Technology Group Meets or even undercuts fieldbus cost levels No special master cards required –on-board MAC or low cost standard NIC is fine 8 It’s Industrial Ethernet Standard Ethernet frames used Supports all Internet technologiesNo active infrastructure components required HTTP, FTP, TCP/IP – without degradingEtherCAT – Technical Introduction and Overviewthe real-time behavior Real-time protocol handling in hardware Device application determines μC performance –Implementation Aspects Simple I/O slaves do not require μC at all Universal slave interface modules available Evaluation kits and stacks for masterand slave available20building automation, transport systems, lower interface costsnot the fieldbus protocol19Machine control, robotics, embedded systems,Highly integrated Slave Controllers for It’s easy to implement16 Simplifies vertical integration It’s Safety on Ethernet Functional Safety and standard applicationwith one network Safety Protocol according to internationalsafety standard IEC 61508 Suitable for safety I/O and safety drives Routable via gateways and fieldbus systems It’s easy to useApplication Examples It’s open No manual address setting No switch configuration Open Technology, fully disclosed Auto configuration features Supported by the worlds largest Industrial Diagnosis with exact localizationContact It’s flexible topologyEthernet Organization EtherCAT is IEC and ISO standard Supports well established device profiles All topologies supported: line, tree, star, ring No node, switch or hub cascading issues Up to 65,535 nodes per segment Deployed in series applications since 2003 Redundancy, Hot Connect, Hot Swap options Wide range of applications Implemented on variety of controllers and It’s well provenoperating systems EtherCAT Technology Group. We reserve the right to make technical changes. EtherCAT Technology Group. All rights reserved.Large product selection
ETG Flyer 03 2008.qxd14.02.200812:30 UhrSeite 4 User and Vendor Statements4 EtherCAT Technology GroupEtherCAT Technology Group 5 Martin Rostan, Head of TechnologyMarketing, Beckhoff Automation GmbH,and Executive Director,EtherCAT Technology Group: Dieter Hess, ManagingDirector, 3S Smart SoftwareSolutions GmbH: Hans Beckhoff,Managing Director,Beckhoff GmbH: Norbert Hauser,VP Marketing,Kontron AG:“3S decided to implement EtherCAT as“Naturally, EtherCAT is particularly suitable“EtherCAT is currently the most successful“The strong growth of the EtherCAT Technology Groupthe first real-time Ethernet protocol,for fast PC-based controls. The master re-Ethernet-based fieldbus. This is also visible inreflects the tremendous worldwide interest in thissince EtherCAT utilizes the maximumquires no plug-in card and can be imple-the strongly growing number of members ofexiting technology. Manufacturers and end users rec-performance of Ethernet. For us as amented on any existing Ethernet controllerrenowned companies. A major advantage ofognize the benefits: future-proof performance, flexible network topology, simplesoftware manufacturer, the fact that the master implementationusing a very simple interface. EtherCAT is therefore also well suited toEtherCAT is its openness, high performance and the excellent price-per-configuration, and low costs. Nevertheless, while the number of members is anis independent of special plug-in cards is particularly attractive.small and medium control technology, where it opens up new areas offormance ratio. Kontron‘s embedded computing customers have identi-important criterion for the success of a technology organization, it is not the cru-The software can be based on the universally available standardapplication for distributed control. Therefore EtherCAT is the commu-fied the advantages of EtherCAT for their business. Therefore, Kontron,cial one. Acceptance of the technology resulting in product developments and ap-Ethernet controller. The openness of the system and active sup-nication backbone of Beckhoff system architecture and we are very ple-one of the leading companies in the Embedded Computing market, hasplications is even more important. Here too, EtherCAT is setting standards.”port of Beckhoff for ETG are further significant factors.”ased about the worldwide success of this technology.”decided to offer the embedded portfolio also with EtherCAT.” Erich Hutflesz, Manager Control Systems,Schuler SMG, and ETG Board Member: EtherCAT’s performance, we still have enough poten- Kenichi Karigane,General Manager,Drive Systems Division,Product Marketing & SalesEngineering Center,Hitachi IES Co., Ltd.:tial for solving complex control tasks in future without“We have investigated major Industrialfurther reduce costs and allows for new in-technology. In our pursuit of the next genera-speed problems. Apart from the functional features of a technology, availabilityEthernet Solutions and are very interested in the EtherCAT tech-novations, which the current architecture is not suitable to serve for. Thetion of controls, EtherCAT stands out as a fieldbus technology with theof a wide range of components is very significant for users of automation devices.nology. The EtherCAT performance together with its synchroniza-performance of EtherCAT will allow us to implement hard real-time, safe-best value. No PCI interface card means lower fieldbus cost, lower PC costThe fact that so shortly after ETG was established so many member companiestion capabilities make it particular suitable for demanding motionty, and control-functions on one single cable, while simultaneously offer-and ultimately lower system cost. The unique address mapping techniquewere already presenting EtherCAT products and that further products are incontrol applications. The ease of use and the real-time featuresing flexible topologies, which will reduce cable-costs significantly.of EtherCAT brings the real-time industrial Ethernet to reach its highestpreparation is clear evidence for the success of this technology. The main factorwill make EtherCAT the network of choice also for other applica-Not only performance, but also international standardization and world-potential. We are yet to be convinced otherwise by other contenders thatdetermining user acceptance continues to be simple and effective handling oftion areas, and Hitachi-IES has joined the ETG.wide acceptance are important features of EtherCAT. Our changeover tothey are both technically and economically superior to EtherCAT.”the EtherCAT system in terms of configuration and diagnosis.”We expect the EtherCAT technology to become an approach toEtherCAT is simplified through the use of CANopen device profiles and thesuccess for our motion control business.“availability of gateways and converters, since we are not able to convert“EtherCAT enables us to realize fast drive and hydraulic controls for all applications currently used in theSchuler Group. Another crucial factor is that, due toThomas Porath,System Architect General X-Ray,Philips Medical Systems: Chris Choi,Director of Technology, HuskyInjection Molding Systems Ltd.:“We believe that EtherCAT is the right“Keeping our customers in the lead is nevertechnology for the next step towards a sys-easy! One of the means to sustain this capa-tem control architecture that enables us tobility is a continuous renewal of our controlsall of our subsystems and components in one big step.” Dr. Peter Heidrich, R&D Manager,Baumüller GmbH, and ETG Board Member: Kim Hartman, VP Sales &Marketing, TenAsys Corporation: “Baumüller decided to use EtherCAT due to the signif-“The EtherCAT standard has potential“ANCA’s interest in EtherCAT as the stan- Dmitry Dzilno, Manager,Controls Group,Applied Materials Inc.:icant benefits it can offer, particularly in terms of pri-to be a significant and disruptive tech-dard fieldbus in our CNC machines has“We have evaluated EtherCAT and find especi-ce/performance ratio and availability. This decisionnology in lowering costs and improvingbeen driven by three main features. Firstlyally exciting that this communication technol-was underlined through our active collaboration inperformance of hard real-time Ethernetthere is the practically unlimited band-ogy allows to connect fieldbus scanner cards,the ETG executive committee. We continue to be con-based fieldbus applications. As a 25-yearwidth offered by EtherCAT which gives ourdigital motion amplifiers as well as fast I/O us-vinced that the decision for EtherCAT was the right one. As soon as EtherCAT Slavesupplier of the RTOS iRMX and INtime for Windows TenAsys is par-designers freedom to imagine, scalability and long product lifetime. Sec-ing just one Ethernet port instead of multiple PCI slots. Introducing Ether-Controllers became available, Baumüller started producing connections for theticularly aware of the highly optimized structure used in EtherCATondly the two physical layers give the option of choosing low cost, elec-CAT hence does not require abandoning all well established fieldbus sys-bmaXX 4400 system in August 2004. ETG has demonstrated that, due to the uni-telegrams. We’re very pleased to be associated with the ETG, and intrically rugged and widely available hardware components. Finally thetems right away but provides a smooth migration path especially in de-versality of the EtherCAT technology, EtherCAT-based systems can be developedputting forth effort towards supplying a robust, and high perform-software only master allows easy use of high reliability, relatively low costmanding motion control applications.”and realized very quickly.”ance real-time EtherCAT master for OEM application.”industrial motherboards as system controllers.” EtherCAT Technology Group. All rights reserved.Pat Boland, Managing Director,ANCA Pty Ltd.: EtherCAT Technology Group. All rights reserved.
ETG Flyer 03 2008.qxd14.02.200812:31 UhrSeite 6 EtherCAT Technology Group6 EtherCAT Technology GroupEtherCAT Technology Group 7Everyone should be able to use and implement EtherCAT.The Management Board of the International Elec- The ETG offices answers technical inquiries regardingAlso the SEMI (Semiconductor Equipment and Materi-The EtherCAT Technology Group stands for this philosophy.trotechnical Commission (IEC) approved the Liaison of theEtherCAT, provide marketing assistance, publish productals International) has approved EtherCAT for their applica-The ETG is a forum for end users from different sectors, andEtherCAT Technology Group with the IEC Committee forguides, issue press releases and articles, promote EtherCATtions by accepting the EtherCAT SEMI standard. The lead-for machine manufacturers and suppliers of powerful con-Digital Communication: The ETG is official standardizationvia its website and organize joint fair and exhibitioning standards organizations thus respond to the growingtrol technology with the aim of supporting and promotingpartner organization.booths.interest of the industry in the fastest Industrial Ethernetthat are represented ensures that EtherCAT is optimallyBenefits of membershipInternational Standardizationprepared for a large number of applications. With their Member companies receive access to specificationThe EtherCAT specification is an international IEC and ISOMembership Developmentqualified feedback, the system partners ensure simple in-drafts, specifications, white papers, tools, prototype evalu-standard: EtherCAT is part of the international fieldbusFounded in 2003, the EtherCAT Technology Group grew sotegration of the hardware and software components in allation products and initial batch products and thus havestandard, IEC 61158 (Digital data communication for meas-fast that it can be considered the world’s largest Industrialrequired device classes.a head start in evaluating, using or implementing theurement and control – Fieldbus for use in industrial controlEthernet organization. With members from all over theEtherCAT technology.systems). As part of the IEC 61784-2 (Industrial communi-world and still growing, the ETG is a strong internationalview the technology. Technical Task Forces look after topics Members are eligible to participate in working groupscation networks – Part 2: Additional profiles for ISO/community. The current membership list can be found onlike device profile integration, safety, wiring, standardiza-and gain influence on future enhancements of the Ether-IEC 8802-3 based communication networks in real-timethe EtherCAT website.tion or test and certification.CAT technology specifications.applications) profiles for specific EtherCAT device classes“SERCOS Interface” is a trade name of SI e.V. ETG represent the member’s interest in internationalare defined.EtherCAT technology. The wide range of industry sectorsThe ETG Technical Committee meets frequently to re-In Training Classes and Seminars the ETG provides detailed information about the Technology.solution.standardization committees such as IEC and ISO.The IEC 61800-7 is particularly important for Motion ETG members have access to the members-only part ofControl applications. The integration of EtherCAT in thisthe EtherCAT website, which provides specifications still instandard makes it a standardized communication technol-development, a developers forum and up-to date informa-ogy for the SERCOS * and CANopen drive profiles.tion regarding the technology. EtherCAT Technology Group. All rights reserved. EtherCAT Technology Group. All rights reserved.
ETG Flyer 03 2008.qxd 14.02.200812:31 UhrSeite 8Technical Introduction and Overview8 EtherCAT Technology GroupEtherCAT Technology Group 9This section provides an in-depth introduction into EtherCAT, the Ethernet-based fieldbus system.EtherCAT sets new performance standards. Handling is straightforward and similar to a fieldbus, thanksto flexible topology and simple configuration. Moreover, since EtherCAT can be implemented verycost-effectively, the system enables fieldbuses to be used in applications where fieldbus networkingwas not an option in the past.protocol layers and replaced by the time slice procedure orpasses through the node. Similarly, input data is insertedpolling; other propositions use special switches that dis-while the telegram passes through (see Fig. 2). The framestribute Ethernet packets in a precisely controlled timelyare only delayed by a few nanoseconds. The frame send bymanner. Whilst these solutions may be able to transportthe master is passed through to the next device until itdata packets more or less quickly and accurately to thereaches the end of the segment (or branch). The last deviceconnected Ethernet nodes, the times required for the redi-detects an open port and therefore sends the frame backrection to the outputs or drive controllers and for readingto the master.the input data strongly depend on the implementation.On the other hand, an EtherCAT frame comprises the Introductionfieldbus systems in the past. The main requirements forIf individual Ethernet frames are used for each device,data of many devices both in send and receive directionFieldbuses have become an integrated component of au-this type of application are high real-time capability, suit-the usable data rate is very low in principle: The shortestwithin one Ethernet frame. The usable data rate increasestomation technology. They have been tried and tested andability for small data quantities, and naturally cost-effec-Ethernet frame is 84 bytes long (incl. inter-packet gap IPG).to over 90 %. The full-duplex features of 100BaseTX are ful-are now widely established. It was fieldbus technologytiveness. EtherCAT meets these requirements and at theIf, for example, a drive cyclically sends 4 bytes of actual val-ly utilized, so that effective data rates of 100 Mb/s ( 90 %that enabled the wide-scale application of PC-based con-same time makes internet technologies available at theue and status information and accordingly receives 4 bytesof 2 x 100 Mb/s) can be achieved (see Fig. 3).trol systems. While the performance of controller CPUs –I/O level.of command value and control word information, at 100 %The EtherCAT master uses standard Ethernet Mediumparticularly for IPCs – is increasing rapidly, conventionalWith EtherCAT the controller can update the inputbus load (i.e. with infinitely short response time of theAccess Controllers (MACs) without extra communicationfieldbus systems tend to represent “bottlenecks” that lim-and/or output information at the time when the data isdrive) a usable data rate of only 4/84 4.8 % is achieved. Atprocessors. Thus an EtherCAT master can be implementedit the performance control systems can achieve. An addi-needed. The I/O response time contains all hardware rele-an average response time of 10 μs, the rate drops to 1.9 %.on any equipment controller that provides an Ethernet in-tional factor is the layered control architecture consistingvant delays (IPC, EtherCAT and I/O system) from the physi-These limitations apply to all real-time Ethernet approach-terface, independently of the operating system or applica-of several subordinate (usually cyclic) systems: the actualcal input signal to the physical reaction on the output.es that send an Ethernet frame to each device (or expect ation environment.control task, the fieldbus system and perhaps local expan-With a time of 100 μs this offers a performance toframe from each device), irrespective of the protocols usedsion buses within the I/O system or simply the localthe PLC level that has been available up to now onlywithin the Ethernet frame.firmware cycle in the peripheral device. Reaction times arewithin servo drives with a digital signal processor (DSP),typically 3–5 times higher than the controller cycle time –(see Fig. 1).The EtherCAT slave uses an EtherCAT Slave Controller(ESC) for processing the data on-the-fly. Thus the performance of the network is not determined by the microcon- EtherCAT operating principletroller performance of the slave but is handled complete inEtherCAT technology overcomes these inherent limitationshardware. A process data interface (PDI) to the slave‘s ap- Ethernet and real-time capabilityof other Ethernet solutions: On the one hand the Ethernetplication offers a Dual-Port-RAM for data exchange.controllers, Ethernet has already been the state of the artThere are many different approaches that try and providepacket is no longer received then interpreted and processfor some time. What is relatively new is its application atreal-time capability for Ethernet: for example, the CS-data then copied at every device, but the EtherCAT slavethe drive or I/O level, i.e. in areas that were dominated byMA/CD media access procedure is disabled via higher leveldevices read the data addressed to them while the framean unsatisfactory solution.Above the fieldbus system level, i.e. for networking Figure 1: Ultra short cylce times with I/O response time 100 μsI/O Response TimeInputConversionInputLogic CalculationCommunication Figure 2: Process data is inserted in datagram Figure 3: Comparison of Bandwidth Utilisation100 µs1009080706050403020100Output OutputCommu- ConversionnicationEthernet Header EtherCAT Technology Group. All rights reserved.ECAT HDRDatagram 1Datagram 2Datagram 3Logical Process ImageTask 1Logical Process ImageTask 2Logical
Kim Hartman, VP Sales & Marketing,TenAsys Corporation: . a head start in evaluating, using or implementing the EtherCAT technology. Members are eligible to participate in working groups and gain influence on future enhancements of the Ether-CAT technology specifications.
demokit offers a quick intro-duction into EtherCAT commu-nication. It includes EtherCAT Terminals and a Coupler for testing simple I/O functions. The enclosed CD contains a step-by-step guide and a full version of TwinCAT 2 as pro-gramming environment for the Beckhoff EtherCAT master. EtherCAT slaves of any type can be tested with this fi eld-
moog MSD Servo Drive User Manual CANopen/EtherCAT 8 1.3 Introduction to EtherCAT As far as real-time Ethernet systems are concerned, EtherCAT has become well estab-lished in the area of automation. The decisive factor here is not only the IEEE 802.3/ 100BaseTX Ethernet physics known in the home office area, but also the excellent
Installation and Operation Manual X-DPT-EtherCAT-GF1XX-MFC-eng Part Number: 541B219AAG April, 2017 iii Brooks EtherCAT MFCs Dear Customer, We recommend that you read this manual in its entirety as this will enable efficient and proper use of the EtherCAT thermal mass flow controllers and meters.
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Delta Tau Power PMAC controller over an EtherCAT network. The Xenus is a compact digital servo drive which functions as a motor amplifier and a full functioned servo controller. Its compact size, powerful functionality and EtherCAT communic
Manual, F/T Sensor, EtherCAT Axia Document #9610-05-EtherCAT Axia-09 Pinnacle Park 1031 Goodworth Drive Apex, NC 27539 USA Tel: 1.919.772.0115 Fax: 1.919.772.8259 www.ati-ia.com 3 Note: Please read the manual before calling customer service, and have the following information available: 1. Serial number (e.g., FT01234) 2.
EtherCAT Arduino Shield by Esmacat (EASE) is an Arduino Shield with the form factor of Arduino UNO shields. EASE stacks onto Arduino boards or Arduino-like boards (a.k.a Base board). Base board can read and write a data packet from EASE via SPI, and the same data packet is also read and written by an EtherCAT Master via a
Safety Features I2t monitor: The I2t monitor determines the sum of the square of the motor current over a given time. If the I2t limit is reached the motor will stop and a I2t exceed flag will be set. The user need to unset the flag to continue. EtherCAT timeout: If the EtherCAT communication exceeds a timeout all motors will stop. The user need to unset the EtherCAT timeout flag to continue.
