EtherCAT Introduction

The Ethernet Fieldbus.
EtherCAT - The Ethernet Fieldbus.

EtherCAT is:
- Faster
- Synchronization
EtherCAT is real time down to the I/O level

No underlying sub-systems any more
- Industrial Ethernet
- Flexible Topology
- Easier to configure
- Cost effective
- Easier to implement
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT Technology Group, 2012

EtherCAT is:
Other technologies need local I/O cycles + gateways
- Faster
- Synchronization
- Open
- Conformance
- Safety
- Redundancy
RAM
CPU
Flash
August 2012
I/O
Fieldbus
Controller
Driver
- Versatile
I/O
Flash
- Well proven
I/O
I/O
- Cost effective
CPU
I/O
Fieldbus
Controller
Driver
- Flexible Topology
Master for Local

Extension Bus
RAM

EtherCAT is:
EtherCAT: Real time down to the I/O
- Faster
- Synchronization
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT
Controller
EtherCAT
Controller
EtherCAT
Controller
- Cost effective
EtherCAT
Controller
Driver
EtherCAT
Controller
- Flexible Topology

EtherCAT is:
- Faster
- Synchronization
- Flexible Topology
EtherCAT is real time down to the I/O level

No underlying sub-systems any more
No delays in gateways
In- and outputs, sensors, actuators, drives, displays:
everything in one system!
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT is faster
EtherCAT is:
- Faster
- Synchronization
- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
Transmission Rate:
2 x 100 Mbit/s (Fast Ethernet, Full-Duplex)
Update Times:
256 digital I/O in 11 s

1000 digital I/O distributed to 100 nodes in 30 s = 0.03 ms
200 analog I/O (16 bit) in 50 s, 20 kHz Sampling Rate
100 Servo-Axis (each 8 Byte In + Out) in 100 s = 0.1 ms
12000 digital I/O in 350 s
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT is faster
EtherCAT is:
- Faster
- Synchronization
Bandwidth Usage of Ethernet for I/O and Drives:

Ethernet Frame: 84 Bytes
incl. Preamble + IPG (interpacket gap)
- Flexible Topology
Data pay load:

e.g. 2 Bit..6 Byte
22 Bytes
- Cost effective
Ethernet Header
- Well proven
- Open
Data: 46 Bytes
CRC
12 Bytes
IPG
Request with output data
Master
I/O
Response with input data
- Conformance
- Safety
4 Bytes
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 s reaction time/node
1,9% application data ratio at 10 s reaction time/node
August 2012
Node
reaction
time
EtherCAT is faster
EtherCAT is:
- Faster
- Synchronization
- Flexible Topology
Bandwidth Usage Comparison:

At 4 Byte user data per node:
Polling / Timeslicing: ~ 2..5 %
From 2 Bit user data per node:

EtherCAT: ~ 80..97 % (Full Duplex, 2 x 100 MBit/s)
- Cost effective
100
- Well proven
90
- Open
80
- Conformance
70
- Safety
- Redundancy
- Versatile
60
50
40
30
20
10
0
Polling /
Timeslicing
August 2012
EtherCAT
Functional Principle: Ethernet on the fly

EtherCAT is:
- Faster
- Synchronization
- Flexible Topology
Car
27
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Analogy Fast Train:

Train (Ethernet Frame) does not stop
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
Functional Principle: Ethernet on the Fly

EtherCAT is:
- Faster
- Synchronization
- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
Efficient: Typically only one Ethernet Frame per Cycle

Ideal Bandwidth Utilization for maximum Performance
August 2012
Functional Principle: Ethernet on the Fly

EtherCAT is:
- Faster
- Synchronization
- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
Efficient: Typically only one Ethernet Frame per Cycle

Ideal Bandwidth Utilization for maximum Performance
August 2012

EtherCAT is:
- Faster
Slave Device
Slave Device
EtherCAT Slave
Controller
EtherCAT Slave
Controller
- Synchronization
- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Process data is extracted and inserted on the fly:

Process data size per slave almost unlimited
(1 Bit60 Kbyte, if needed using several frames)
Compilation of process data can change in each cycle, e.g.
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 Topology
- Well proven
PLC Data 1
NC Data
HDR 2
Ethernet Header ECAT HDR
HDR 2
HDR 1
- Cost effective
PLC Data 2
CRC
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Minimal protocol overhead via implicit addressing

Optimized telegram structure for decentralized I/O
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:
- Faster
- Synchronization
- Flexible Topology
40 Axis (each 20 Byte Input- and Output-Data)

50 I/O Station with a total of 560 EtherCAT Bus Terminals
2000 Digital + 200 Analog I/O, Bus Length 500 m
Performance EtherCAT: Cycle Time = 276 s
at 44 % Bus Load, Telegram Length = 122 s
- Cost effective
- Well proven
in spite of this cycle time still 56%

bandwidth remaining, e.g. for TCP/IP
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Slow Control Systems benefit, too

EtherCAT is:
Reaction time with legacy fieldbus I/O:
- Faster
- Synchronization
I PLC Task O
- Flexible Topology
I PLC Task O
I PLC Task O
I PLC Task O
I PLC Task
- Cost effective
Tmpd
- Well proven
- Open
Bus Cycle
Bus Cycle
Bus Cycle
Bus Cycle
Bus Cycle
Bus Cycle
Bus Cycle
- Conformance
- Safety
- Redundancy
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
best case reaction time

worst case reaction time
- Versatile
Input
Input
(worst case)
(best case)
Output
Tmpd: Master Processing Delay
TI/O: Local I/O Update Time
(local Extension Bus + Firmware)
August 2012

EtherCAT is:
System Architecture with EtherCAT:
- Faster
- Synchronization
I PLC Task O
- Flexible Topology
I PLC Task O
I PLC Task O
I PLC Task O
I PLC Task
no dedicated Master Device any more
- Cost effective
Tmpd
- Well proven
- Open
Bus Cycle
Bus Cycle
Bus Cycle
Bus Cycle
Bus Cycle
Bus Cycle
Bus Cycle
- Conformance
- Safety
- Redundancy
TI/O
TI/O
TI/O
TI/O
TI/O
TI/O
TI/O
TI/O
TI/O
TI/O
on underlying extension bus any more
- Versatile
August 2012
TI/O
TI/O
TI/O
TI/O
TI/O

EtherCAT is:
System Architecture with EtherCAT:
- Faster
- Synchronization
- Flexible Topology
I PLC Task O
I PLC Task O
I PLC Task O
I PLC Task O
I PLC Task
- Cost effective
- Well proven
- Open
- Conformance
- Safety
TDMA (MAC)
- Redundancy
- Versatile
TEtherCAT Cycle
August 2012
TDMA = Time for Data Transfer

from/to Ethernet Controller via
Direct Memory Access:
neglectible

EtherCAT is:
Reaction Time with EtherCAT:
- Faster
- Synchronization
I PLC Task O
- Flexible Topology
I PLC Task O
I PLC Task O
I PLC Task O
I PLC Task
- Cost effective
best case
worst case
- Well proven
- Open
EtherCAT
Bus Cycle
- Conformance
Input
Input
(worst case)
(best case)
Output
- Safety
- Redundancy
- Versatile
August 2012
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:
- Faster
- Synchronization
Traditional fieldbus system generate physical process image

This has to be mapped to logical process image(s)
- Flexible Topology
Control System, e.g. IPC

Feldbus Scanner/
DPRAM Master
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
logical process images
- Cost effective
node 1
node 1
Data n
PLC Data
node 2
node 2
NC Data
node 3
node 4
node 3
Mapping
node 4
August 2012
Fieldbus: requires Mapping in Control System

EtherCAT is:
- Faster
- Synchronization
The same applies to system with just one process image

Resorting of process data (Mapping) is required, too
- Flexible Topology
Control System, e.g. PLC

Feldbus Scanner/
DPRAM Master
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
logical process image
- Cost effective
node 1
node 1
node 2
node 2
node 3
node 4
node 3
Mapping
node 4
August 2012
EtherCAT: Mapping moved into Slave Devices

Master
EtherCAT is:
- Faster
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
Ethernet Header
ECAT
HDR
PLC Data
NC Data
HDR 3
HDR 2
- Flexible Topology
HDR 1
logical process images up to 4 GByte
- Synchronization
Data n
Ethernet
Data n
PLC Data
NC Data
Datagram 1
Datagram 2
Datagram n
- Versatile
Control System is unburdened, master becomes very

simple
Data is transmitted according to the application
requirements: extremely fast, flexibly and efficiently
August 2012
Direct Memory Access saves time

EtherCAT is:
- Faster
- Synchronization
- Flexible Topology
Fieldbus cards:
up to 30% of
CPU time for
data copying
PC Control with Fieldbus cards

PC RAM
Scanner card, DP RAM
Control task
PCI
CPU
memcopy
bus
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT:
MAC is PCI Bus
master, data is
provided by DMA
directly to PC RAM:
CPU relieved,
more performance
PC Control with EtherCAT

PC RAM
CPU
PCI
MAC
DMA
bus
Control task
EtherCAT Propagation Delay Measurement (1)

EtherCAT is:
- Faster
- Synchronization
EtherCAT Node measures time difference between

leaving and returning frame
- Flexible Topology
- Cost effective
- Well proven
EtherCAT Frame
Processing Direction
- Open
EtherCAT Frame
- Conformance
Forwarding Direction
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT Propagation Delay Measurement (2)

EtherCAT is:
- Faster
- Synchronization
EtherCAT Node measures time difference between

leaving and returning frame
- Flexible Topology
- Cost effective
IPC
Master
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Distributed Clocks
EtherCAT is:
- Faster
- Synchronization
Precise Synchronization (<< 1 s!) by exact adjustment

of Distributed Clocks
- Flexible Topology
- Cost effective
IPC
Master
S
t
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Distributed Clocks
EtherCAT is:
- Faster
- Synchronization
Long Term Scope View of two separated devices

300 Nodes in between, 120m Cable Length
- Flexible Topology
Interrupt
Node 1
- Cost effective
- Well proven
- Open
Simultaneousness:
~15 ns
- Conformance
Jitter: ~ +/-20ns
- Safety
- Redundancy
- Versatile
August 2012
Interrupt
Node 300
Synchronization of multiple Networks

EtherCAT is:
- Faster
- Synchronization
EtherCAT networks can be coupled via EtherCAT Bridge

Bridge provides hardware synchronization of several networks
- Flexible Topology
M1
- Cost effective
- Well proven
- Open
M2
- Conformance
- Safety
- Redundancy
M3
- Versatile
August 2012
Synchronization of multiple Networks

EtherCAT is:
- Faster
- Synchronization
EtherCAT networks can be coupled via EtherCAT Bridge

Bridge provides hardware synchronization of several networks
- Flexible Topology
M1
- Cost effective
- Well proven
- Open
M2
- Conformance
- Safety
- Redundancy
M3
- Versatile
August 2012
External Clock Synchronization: IEEE 1588

Switchport with integrated IEEE 1588 Boundary Clock
EtherCAT is:
- Faster
- Synchronization
IEEE 1588
Grandmaster
- Flexible Topology
- Cost effective
Boundary
Clock
Master
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT is Industrial Ethernet!

EtherCAT is:
- Faster
- Synchronization

EtherCAT uses Standard Ethernet Frames: IEEE 802.3

Alternatively via UDP/IP (if IP Routing is needed)
no shortened frames
- Flexible Topology
MTU: max. 1514 Byte
- Cost effective
- Well proven
- Open
- Conformance
48 Bit
Destination
16 Bit
16 Bit
Source
EtherType
Header
48 -1498 Byte
EtherCAT Datagrams
Embedded in Standard Ethernet

Frame, EtherType 0x88A4
- Safety
- Redundancy
48 Bit
160 Bit
Ethernet H.
IP Header
August 2012
CRC
1n EtherCAT
Datagrams
64 Bit
UDP H.
48 -1470 Byte
16 Bit
Header
EtherCAT Datagrams
- Versatile
Or: via UDP/IP
UDP Port 0x88A4
32 Bit
11 Bit
1 Bit
4 Bit
Length
Res.
Type
CRC

EtherCAT is:
- Faster
- Synchronization

fully transparent for TCP/IP

all Internet technologies (HTTP, FTP, Webserver,)
available without restricting the real time capabilities!
- Flexible Topology
EtherCAT Slave Device
- Cost effective
- Well proven
- Open
Standard
TCP/IP
Stack
- Conformance
- Safety
Ethernet
Application
TCP
Real Time
Application
UDP
Acyclic
Data
IP
- Redundancy
- Versatile
Mailbox
Process Data
EtherCAT MAC / DLL

Ethernet PHY
August 2012
Ethernet PHY

EtherCAT is:
- Faster
- Synchronization

Any Ethernet Device can be connected to Switchport

Access to Webserver with Standard Browser
- Flexible Topology
Virtual Ethernet
Switch
Functionality
- Cost effective
Master
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Webserver
Switchport

EtherCAT is:
- Faster
- Synchronization

Virtual Ethernet Switch routes any Ethernet Frame

From inside as well as from outside the segment
- Flexible Topology
Virtual Ethernet
Switch
Functionality
- Cost effective
Switchport
Master
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
Ethernet
Switch
August 2012
Switchport: Any Ethernet Protocol

EtherCAT is:
- Faster
- Synchronization

Interface to any Ethernet Device or Network

Ethernet Frames are inserted into EtherCAT Protocol:
Ethernet over EtherCAT
- Flexible Topology
EtherCAT Switchport
- Cost effective
Ethernet MAC
PHY
- Well proven
- Open
RX1
- Conformance
- Safety
RX RX3
RX2TX
RX4
Fragmentation
- Redundancy
- Versatile
Mailbox
PHY
August 2012
EtherCAT MAC / DLL

TX1
TX3
TX2
TX2
TX3
TX1
Process Data
PHY

EtherCAT is:
- Faster
- Synchronization

Master TCP/IP Stack can provide remote Mailbox access

via TCP/IP to any EtherCAT device ideal for tools.
No need for TCP/IP stack in each device: cost reduction
- Flexible Topology
Master TCP/IP
Stack provides
access to Mailbox
protocol
- Cost effective
- Well proven
Master
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Online access to
device
Switchport
Vertical Integration (1)

via Switchport
EtherCAT is:
- Faster
- Synchronization

Master
- Flexible Topology
- Cost effective
Switchport
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
+ any Ethernet Protocol can be used

+ requires only one Ethernet Port (at IPC/Controller)
+ EtherCAT performance is not limited

...via 2. Ethernet Port
EtherCAT is:
- Faster
- Synchronization

Master
- Flexible Topology
- Cost effective
- Well proven
2nd Ethernet
Port
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012

+ EtherCAT performance is not limited
- but: requires second Ethernet Port (at IPC/Controller)

via Switch
EtherCAT is:
- Faster
- Synchronization

Master
- Flexible Topology
- Cost effective
- Well proven
Ethernet
Switch
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012

+ requires only one Ethernet Port (at IPC/Controller)
- but: performance reduced by switch delay (and generic
Ethernet traffic)
EtherCAT wiring is more flexible

Standard Ethernet Topology: Star
EtherCAT is:
- Faster
- Synchronization

- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012

Flexible topologies arbitrarily extendable
EtherCAT is:
- Faster
- Synchronization
- Flexible Topology

Topology variants like Line, Star, Tree, Daisy Chain

+ Drop Lines possible; can be used in any combination!
Up to 65.535 nodes for each EtherCAT segment
Standard Ethernet cabling
Line
- Cost effective
- Well proven
- Open
- Conformance
Master
- Safety
- Redundancy
- Versatile
Star/Tree
August 2012
Drop Line

ERP
EtherCAT Automation Protocol
EtherCAT is:
- Faster
- Synchronization

HMI
HMI
(e.g OPC,
Thin Client)
Switch
- Flexible Topology
- Cost effective
EtherCAT
Master
EtherCAT
Master
EtherCAT
Master
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Switchport
EtherCAT
Master
EtherCAT
Master
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
Slave
Device
redundancy
(optional)
EtherCAT Device Protocol processed on the fly

August 2012
EtherCAT Extra Large System Test

EtherCAT is:
- Faster
- Synchronization

- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
10.056
EtherCAT Nodes
August 2012

Ethernet Signal Variants of EtherCAT:
EtherCAT is:
- Faster
- Synchronization
- Flexible Topology

100BASE-TX (up to 100 m between 2 nodes)

100BASE-FX (up to 20 km between 2 nodes (single mode fibre) )
LVDS (for modular devices)
- Cost effective
LVDS*
100 m
- Well proven
20 km
- Open
- Conformance
Master
- Safety
- Redundancy
- Versatile
Ethernet on
100BASE-TX
up to 100 m
with transformer
coupling
Ethernet on
100BASE-FX
(fibre optics)
up to 20 km
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)
August 2012
EtherCAT instead of PCI

EtherCAT is:
- Faster
- Synchronization

Protection of your investment

smooth migration path from legacy fieldbus to EtherCAT
seamless integration of existing fieldbus devices, e.g.:
- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
AS-Interface
BACnet MS/TP
CANopen
CC-Link
ControlNet
DeviceNet
Ethernet/IP
FIPIO
Interbus
IO-Link
Lightbus
LonWorks
Modbus Plus, RTU, TCP
PROFIBUS
PROFINET IO
maximum system expandability with low cost fieldbus gateways

Update Times:
EtherCAT is:
- Faster
- Synchronization
- Flexible Topology

Process image update-time

via PCI (500 Bytes input and output data each): 400 s
Process image update-time
via EtherCAT (1.500 Bytes input and output data): 150 s
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012

EtherCAT is:
- Faster
- Synchronization

No Slots in Control System (IPC or PLC) required any

more
Nevertheless maximum expandability
- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
EtherCAT
August 2012
EtherCAT is easier to configure

EtherCAT is:
- Faster

- Flexible Topology
- Synchronization
- Cost effective
Topology:
Automatic Topology Expected/Actual Comparison
Diagnosis:
Diagnosis with exact Localization
- Well proven
Every node
constantly
monitors
checksum
- Open
Bit errors are

detected and
localized
- Conformance
- Safety
- Redundancy
- Versatile
Even Timing Errors (e.g. Time Window for Actual Values

missed) are detected and stored locally in the chip
August 2012
EtherCAT is easier to configure

Network planning:
EtherCAT is:
- Faster

- Flexible Topology
- Synchronization
Performance independent of:

Slave implementation
(no Stacks involved in Process Data Communication)
Topology (no Switches/Hubs)
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Addressing
No manual address setting required

No IP- or MAC-Address Handling Required
Addresses can be assigned automatically
Addresses can be kept
no new addressing if nodes are added
Configuration: Classical Fieldbus Systems

EtherCAT is:
- Faster
- Synchronization
- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
1. Select + Plan Topology according to System Limitations

2. Configure Node Address at Slave Device
3. Select and Configure Baudrate,
depending on:
- Network Length + Topology
- EMI-Environment
- Application Requirements
4. Select Device Description Files (GSD, EDS) in
Configuration Tool
5. Select and Configure Communication Parameters,
such as:
- cyclic Polling
- event driven Communication
- synchronized or free running
6. Allocate physical to logical Process Image (Mapping)
Configuration: EtherCAT
EtherCAT is:
- Faster
- Synchronization
- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
1. Select + Plan Topology according to System Limitations

2. Configure Node Address at Slave Device
3. Select and Configure Baudrate,
depending on:
- Network Length + Topology
- EMI-Environment
- Application Requirements
4. Select Device Description Files (GSD, EDS) in
Configuration Tool
5. Select and Configure Communication Parameters,
such as:
- cyclic Polling
- event driven Communication
- synchronized or free running
6. Allocate physical to logical Process Image (Mapping)
EtherCAT is lower costs (1): Engineering

Less effort for Network planning:
EtherCAT is:
- Faster

- Flexible Topology
- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Simplified configuration
Default settings will work, no network tuning
Improved Diagnosis:
Faster error handling leads to less downtime
Faster Setup:
No address setting required
Implementation / Tools:
Standard Network Monitor Tools,
e.g. MS Network Monitor or Wireshark: free of charge
Parser Software: free of charge
EtherCAT is lower costs (2): Hardware

Master:
EtherCAT is:
- Faster

- Flexible Topology
- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
no dedicated plug in card (co-processor)

on-board Ethernet Port is fine
Slave:
low cost Slave Controller
FPGA or ASIC
for simple devices: no C needed

no powerful C needed
- Versatile
Infrastructure:
no Switches/Hubs required
Standard Ethernet Cabling + Connectors
August 2012
32 Bit
C
Device + Infrastructure Cost Comparison

EtherCAT is:
- Faster

- Flexible Topology
- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
Example Configuration
(e.g. Beckhoff Products)
PLC (CX1000)
10 Bus Stations
400 DI / 400 DO
100 m Cable
11 Bus Connectors
(Fieldbus)
21 Bus Connectors
(EtherCAT)
Inexpensive Compact
Fieldbus Couplers
August 2012
Device + Infrastructure Cost Comparison

EtherCAT is:
- Faster

- Flexible Topology
- Synchronization
Example
Configuration
- Cost effective
List Price*
Difference
100 %
121,5 %
+ 21,5 %
123,7 %
+ 23,7 %
121,9 %
+ 21,9 %
143,7 %
+ 43,7 %
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
And just for reference:
Profinet RT / Ethernet/IP: switches not taken into account

* Beckhoff Price List 01/2010
August 2012
Why such significant Price Differences?
Master/Scanner Card
EtherCAT: no Master HW
6%
Bus Coupler with CPU and

local extension bus master
Bus Coupler and Digital I/O:

just EtherCAT Slave Controller
EtherCAT
Controller
EtherCAT
Controller
12%
Driver
CPU
Master for Local

Extension Bus
Fieldbus
Controller
Driver
RAM
Flash
T-Junction Connectors
Simple Straight Connectors

2%
August 2012
EtherCAT is easier to implement

Slave Implementation:
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
All time critical functions implemented on ASIC or FPGA

ESC handles Real-time Protocol in Hardware
Integrated Communication State Machine

Network Performance independent of
Slave-C Performance
Protocol Stack
- Well proven
- Open
- Conformance
- Safety
- Redundancy
For usage with or without C (Host CPU)

Integrated DPRAM (18kByte)
Integrated Distributed Clock Handling
Ultra precise interrupts to C
- Versatile
August 2012
EtherCAT Slave Controller Variety

EtherCAT is:
- Faster
- Synchronization
Beckhoff
ET1100
- Flexible Topology
Hilscher
- Cost effective
netX 100/500
TI's Sitara and

other C + P families
Hilscher
netX 50
Beckhoff
ET1200
- Well proven
- Open
- Conformance
IP-Core for FPGA of

Intel Atom E6x5C
- Safety
- Redundancy
- Versatile
IP-Core
Xilinx
Spartan-3
ESC10/20:
Altera Cyclone-I
August 2012
IP-Core for
Altera
Cyclone-II
IP-Core for
Altera
Stratix-IV
IP-Core for
Altera
Cyclone-III
IP-Core for
Xilinx
Spartan-6
IP-Core for
Altera
Cyclone-IV
IP-Core for
Xilinx Kintex-7
IP-Core for
Altera Stratix-V
EtherCAT Slave Controller Features: ASIC (1)

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
Name
ET1100
ET1200
Type
ASIC
ASIC
Package
BGA128
0,8mm Pitch
QFN48
0,5mm Pitch
Size
10 x 10 mm
7 x 7 mm
serial/parallel
(8/16bit, sync/async)*
serial*
Digital I/O
8-32*
8-16*
General Purpose I/O
0-32*
0-12*
8 kByte
1 kByte
SyncManager
FMMUs
Yes
Yes
2-4 (MII/E-bus)*
2-3 (EBUS/max. 1xMII)*
BGA routable with

standard PCB
Hardware Supplier
C Interface
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
DPRAM
Distributed Clocks
No. Of Ports
Specials
* configurable
August 2012
EtherCAT Slave Controller Features: ASIC (2)

EtherCAT is:
- Faster
Name

- Flexible Topology

netX 500
netX50
ASIC
ASIC
ASIC
Package
BGA345
1mm Pitch
BGA345
1mm Pitch
PBGA324
1mm Pitch
Size
22x22 mm
22x22 mm
19x19 mm
- Well proven
C Interface
C-Bus
(internal, 32-bit)
C-Bus
(internal, 32-bit)
C-Bus
(internal, 32-bit)
16
16
32
256/512 Byte
(Mailbox/Process
Data)
256/512 Byte
(Mailbox/Process
Data)
6 kByte
SyncManager
FMMUs
Yes
Yes
Yes
2 (100BASE-TX)
2 (100BASE-TX)
2 (100BASE-TX)
Multi Protocol
Support, Integrated:
PHYs, ARM-9 C
Multi Protocol
PHYs, ARM-9 C
Multi Protocol
PHYs, ARM-9 C
- Synchronization
- Cost effective
- Open
- Conformance
- Safety
Type
netX 100
Hardware Supplier
General Purpose I/O

DPRAM
- Redundancy
- Versatile
Distributed Clocks
No. Of Ports
Specials
August 2012
ESC Features: Micro-Processor

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
Name
Sitara AM3357/3359
Type
ARM MPU
Hardware Supplier
Package
324NFBGA
0,8mm Pitch
Size
15 * 15 mm
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
C Interface
Digital I/O
8/8
General Purpose I/O
>32
DPRAM
8 kByte
SyncManager
FMMUs
Distributed Clocks
No. Of Ports
Specials
August 2012
200 MHz interconnect

(internal, 32bit)
Yes
2 MII
Multi Protocol Support, ARM Cortex A8
(275720 MHz)
EtherCAT Slave Controller Features: FPGA

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
Name
ET1810/ET1811/ET1812
ET1815/ET1816/ET1817
Type
Altera FPGA + IP Core
Xilinx FPGA + IP Core
Cyclone II+III+IV E, IV GX,

Stratix I+II+III+IV+V, GX, II GX,
Arria GX, II GX, II GZ,
Intel Atom E6x5C
Spartan 3+3E+3A+3AN+3A DSP

Spartan 6,
Kintex 7+ 7LP
Virtex 4+5+6+7+7LP
Hardware
Supplier
Supported Chips
Package
FPGA dependent
FPGA dependent
- Well proven
Size
FPGA dependent
FPGA dependent
C Interface
serial/parallel
(8/16-bit, async)
AVALON*
serial/parallel
(8/16bit, async)
PLB, OPB*
8-32*
8-32*
1...60 kByte*
1...60 kByte*
SyncManager
08*
08*
FMMUs
08*
08*
Distributed Clocks
Yes*
Yes*
1-3 (MII / max. 2 RMII)
1-3 (MII / max. 2 RMII)
Several IP Core License models

available
Several IP Core License models

available
- Open
- Conformance
- Safety
- Redundancy
- Versatile
Digital I/O
DPRAM
No. Of Ports
Specials
August 2012
* configurable
IP-Core Configuration Options (ET18xx)

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
FPGA resource consumption depends on configuration

Examples:
Small Configuration:~ 6,000 LE (Altera Cyclone I)
~ 3,700 Slices (Xilinx Spartan-3E)
32Bit digital IO, 1kByte RAM,
without Distributed Clocks, Small Register Set
2 FMMU, 2 SyncManager
Max. Configuration: ~ 17,000 LE (Altera Cyclone I)

~ 11,000 Slices (Xilinx Spartan-3E)
SPI Slave, 60kByte RAM,
with Distributed Clocks, Full Register Set
8 FMMUs, 8 SyncManager
Altera (LEs):
Xilinx (Slices):
August 2012
DC: ~3,000, SM: ~500, FMMU: ~600

DC: ~1,900, SM: ~350, FMMU: ~400
EtherCAT is easier to implement: Slave

Slave Sample Code
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Bus handling contained in EtherCAT Controller

Handling of enhanced EtherCAT State Machine
Mailbox Handling
Protocol Handler for:
CoE (CANopen over EtherCAT)

FoE (File Access over EtherCAT)
EoE (Ethernet over EtherCAT)
SoE (Servodrive Profile over EtherCAT)
Example applications for each protocol

For usage in own products comes with the Beckhoff
Evaluation Kit!
Code is also used in Beckhoff Products
EtherCAT Slave Implementation: Modules

Slave Communication Modules
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
EtherCAT Interface with ET1100 ASIC (FB1111)

EtherCAT Interface with Altera/Xilinx* FPGA (FB1122/1130)
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
*IP Core required

August 2012

EtherCAT Interface comX with netX 500 ASIC
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012

EtherCAT Interface Anybus-S with FPGA
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
EtherCAT Plug-In module
- Redundancy
- Versatile
August 2012
EtherCAT Slave Implementation: Eva-Boards

EtherCAT Evaluation kit EL98xx
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
with Slave Sample Code (Source)

EtherCAT Slave Controller as ASIC or FPGA
Full EtherCAT Master Evaluation License included
Several PDI (32 Bit Digital I/O, 8/16-Bit C, SPI) available
PIC on-board with debugger interface
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012

Cyclone III Development Board DBC3C40
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT Slave Controller as FPGA (Cyclone III)
2 x 10/100 Ethernet PHY

LVDS TFT interface
16 Mbyte SDRAM
1Mbyte SRAM
8 Mbyte flash
Security Eprom
1 x UART transceiver
2 x CAN transceiver
4 x RS485 transceiver
USB 2.0 OTG
Temperature Sensor
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

netX100 Network Evaluation Board
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
with EtherCAT protocol stack

EtherCAT Slave Controller as ASIC (netX100)
Can work as Master or Slave in the network
- Safety
- Redundancy
- Versatile
August 2012
4 MByte 16-Bit Flash

8 MByte 32-Bit SDRAM
Two Ethernet Ports with Switch and Hub Functionality
Fieldbus Interface for AS-Interface (Master only), CANopen, CCLink, DeviceNet, InterBus (Master only), PROFIBUS
USB 1.1 Device
RS232C-Interface
JTAG-Interface
16 Switches as Digital Inputs
16 LEDs as Digital Outputs
Two Digit Address Switch
Reset and Boot Buttons

netX500 RE Evaluation Board
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
with Sample Code (on demand)

EtherCAT Slave Controller as ASIC (netX500)
Several PDI available
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT Slave Controller without Host Controller
- Flexible Topology
- Synchronization
- Cost effective
4 Groups of 8 binary Signals

8 I/O
8 I/O
8 I/O
EtherCAT
Slave
Controller
I/O Application

Process Data
Service Data
Dual Port Memory
- Well proven
- Open
Sync-Manager, FMMU
- Conformance
- Safety
non volatile Data
Registers
Auto-Forwarder with Loop Back
- Redundancy
- Versatile
EtherCAT MAC
MII
PHY
Trafo
RJ45
August 2012
8 I/O
EtherCAT MAC
MII
RJ45

Trafo
- Faster
PHY
EtherCAT is:
EEPROM
EtherCAT Slave Controller without Host Controller

Features
EtherCAT is:
- Faster
EtherCAT State Machine

- Flexible Topology

No Mailbox
No Object Dictionary
Up to 32 signals can be
connected directly
- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
handled by ESC
(EtherCAT Slave Controller)
32 Bit input interface

32 Bit output
24 Bit input / 8 Bit output
Boot Configuration and Slave Information (Identification) in

serial EPROM
No Software required
August 2012
EtherCAT Slave Controller with Host Controller

EtherCAT is:
- Faster
Host Controller

- Flexible Topology

- Synchronization
- Cost effective
Process Data
HTTP,
FTP,
Service
Data
TCP/IP
RAM for TCP/IP

and complex
Applications
(optional)
EtherCAT
Slave
Controller
Application Mapping
Process Data
Mailbox
Dual Port Memory
- Well proven
non volatile Data
- Open
- Conformance
Sync-Manager, FMMU
Registers
- Safety
- Redundancy
Auto-Forwarder with Loop Back
- Versatile
RJ45
Trafo
PHY
Trafo
RJ45
August 2012
EtherCAT MAC
MII
PHY
EtherCAT MAC
MII
EEPROM

8/16-bit C Interface
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
Demultiplexed
Intel Signal Types
Polarity configurable (BUSY, INT)
Typical C:
Intel 80x86, Infineon 80C16x,
Hitachi SH1, ST10, ARM,
TI TMS320 Serie,
- Open
- Conformance
- Safety
- Redundancy
- Versatile
SPI
Up to 10 MBaud
C is SPI Master
Typical C:
Microchip PIC, DSPic, Intel 80C51,
August 2012

Features:
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
EtherCAT State Machine

CoE (CANopen over EtherCAT):
Mailbox with SDO Protocol
Object Dictionary with Mandatory Objects
Device Type
Identity Object
Physical Address
PDO Mapping and related Objects
Sync Manager Communication Type
Sync Manager PDO Relation
or:
SoE (Servodrive profile (IEC61800-7-204*) over EtherCAT)
optional: EoE (Ethernet over EtherCAT)
* also known as SERCOS Standard

August 2012
Microcontroller Requirements (Slave Host Controller)
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
Simple (I/O) Devices do not require a C at all

Tasks of C in more complex devices:
Process data exchange with the application
Object Dictionary Handling
Handling of Application Parameter
(Communication Parameter are handled by ESC)
TCP/IP Stack Handling if required
C-Performance is determined by Device Application,

not by EtherCAT Communication
In many cases an 8-bit C is sufficient
- Redundancy
- Versatile
August 2012
EtherCAT is easier to implement: Master

Master Implementation:
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
e.g. with Master Sample Code (Source)

EtherCAT Configuration Tool
XML Data format of ESI and ENI
Process Data (PD) Image
description
Application
EtherCAT
Configuration Tool
Realtime
- Well proven
- Open
- Conformance
- Safety
Parser
.xml
.xml
.xml
.xml
EtherCAT Slave
Information (ESI) Files
EtherCAT Network
Information (ENI) File
Process Data
Image
init
Mailbox
Services
req.
cyclic
commands
acyclic
commands
- Redundancy
- Versatile
optional; for online functionality

(e.g. scanning for devices)
EtherCAT Master Driver

Realtime
Ethernet Frames
Network Driver
Standard Ethernet MAC
August 2012
resp.
EtherCAT is easier to implement: Master

Example: Master with just one process image
- Faster

- Flexible Topology

- Synchronization
- Cost effective
typical e.g. for small controllers with one control task

up to 1488 Byte Process data size
Header for Process Data communication remains constant
Ethernet Header ECAT
DA
SA
Type
6 Bit
6 Bit
2 Bit
EtherCAT Datagram
Frame EtherCAT
HDR
HDR
2 Bit
10 Bit
Ethernet
Data
WKC
EtherCAT is:
0.1486 Byte
Pad.
FCS
032 4 Byte
- Well proven
- Open
- Conformance
constant header
- Safety
- Redundancy
- Versatile
August 2012
completely sorted
(mapped) process data
Working
Counter:
constant
Padding Bytes and

CRC generated by
Ethernet Controller
(MAC)
Master can be implemented with minimal effort

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

In Series Production since 2003, outstanding Product Variety
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT is an open technology

Protocol is disclosed completely:
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
EtherCAT is IEC, ISO and SEMI Standard

(IEC 61158, IEC 61784, ISO 15745, SEMI E54.20)
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Slave Controller from several sources available

Slave Controller provides interoperability
ETG organizes Interoperabilitly Testing
(Plug Fests), Workshops and Seminars
Conformance Testing + Certificates
EtherCAT Technology Group and IEC

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
Management Board of IEC has approved Liaison of

EtherCAT Technology Group with IEC SC65C WG
11/12/13 + JWG10 (SC65C: Digital Communication)
Thus ETG is official IEC Standardization Partner
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT in IEC 61800-7

EtherCAT is:
- Faster
IEC 61800-7: Generic Interface and use of profiles for power drive systems

- Flexible Topology

- Synchronization
- Cost effective
IEC 61800-7-1: Interface Definition

Annex A:
Mapping to
CiA402
- Open
- Conformance
Annex C:
Mapping to
PROFIdrive
Annex D:
Mapping to
SERCOS*
IEC 61800-7-200: Profile Specifications
- Well proven
Annex B:
Mapping to
CIP
IEC 61800-7-201:
Profile
CiA402
IEC 61800-7-202:
Profile
CIP Motion
IEC 61800-7-203:
Profile
PROFIdrive
IEC 61800-7-204:
Profile
SERCOS*
- Safety
- Redundancy
IEC 61800-7-300: Mapping of Profiles to Network Technologies
- Versatile
IEC 61800-7-301
Mapping to Mapping to Mapping to
CANopen**
EPL
EtherCAT
B
...
C
...
IEC 61800-7-304
Mapping to Mapping to Mapping to
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.
August 2012
EtherCAT Architecture + Device Profiles

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
EtherCAT Device
File System,
Bootloader
- Open
UDP
IP
The CANopen**
Process Data
Standard
IDN
Object Dictionary
Service Channel
SDO
IEC 61800-7-204
IEC 61800-7-304
EN 50325-4
IEC 61800-7-201
IEC 61800-7-301
File Access
Ethernet
- Conformance
- Safety
DEVICE Application
The SERCOS*
Standard
TCP
- Well proven
HTTP, FTP,
FoE
- Redundancy
EoE
SoE
CoE
Mailbox
- Versatile
PDO
Mapping
AT
MDT
CoE/SoE
Process Data
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.
August 2012

EtherCAT Masters implemented on wide range of RTOS*
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
eCos
Integrity
Intime
Linux with RT-Preempt
MQX
On Time RTOS-32
OS-9
PikeOS
Proconos OS
QNX
Real-Time Java
RMOS
RT Kernel
RT-Linux
RTX
RTXC
RTAI Linux
VxWin + CeWin+ RTOS32Win+LxWin
VxWorks
Windows CE
Windows XP/XPE with CoDeSys SP RTE
Windows XP/XPE with TwinCAT RT-Extension
Windows Vista, 7
XOberon
XENOMAI Linux
C/OS II
*as of April 2012

August 2012
Typical EtherCAT Device Architecture

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
EtherCAT Device
optional
Device Profile
Profile
Device
Definitions
Definitions
TCP
UDP
IP
- Open
- Conformance
DEVICE Application
HTTP, FTP,
Ethernet
- Safety
Parameters
Asynchronous
Communication
(Explicit
Addressing)
EoE
- Redundancy
CoE/SoE
Mailbox
- Versatile
Cyclic
Synchronous
Communication
(Implicit
Addressing)
CoE/SoE
Process Data
August 2012
SoE EtherCAT Servodrive Architecture

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
EtherCAT Device
HTTP, FTP,
TCP
UDP
Ethernet
- Safety
IDN
Service Channel
IP
- Open
- Conformance
Servodrive Application
IEC 61800-7204
is the
SERCOS*
Drive Profile
optional
Servodrive Profile IEC 61800-7-204

Mapping to EtherCAT: IEC 61800-7-304
EoE
- Redundancy
SoE
Mailbox
- Versatile
Process Data:
AT / MDT
SoE
Process Data
*SERCOS interface is a trademark by SI e.V.

August 2012

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
Foundation: November 2003

Tasks: Support, Advancement and Promotion of
EtherCAT
The worlds largest fieldbus organization
More than 2050* member companies from
54 countries in 6 continents:
Device Manufacturers
End Users
Technology Providers
Membership is open to everybody
*as of July 2012

August 2012
ETG Team Worldwide

Dr. Guido
Beckmann, GER
Andrea Bock,
GER
Geng Cheng,
CHN
Bin (Beryl) Fan,

CHN
Oliver Fels,
GER
Thomas Rettig,
GER
Martin Rostan,
GER
Florian Hammel,
GER
Florian Hfele,
GER
Rainer Hoffmann,
GER
Liliane Hgel,
GER
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
Dr. YanQiang Liu, Prof Dr. Yong-Seon Masanori Obata,

CHN
Moon, KOR
JPN
Makiko Hori,
JPN
Joseph P. Stubbs,
USA
Fengjiao (Jojo) Fu
CHN
- Conformance
- Safety
- Redundancy
ETG Office
Japan
- Versatile
ETG Office
North America
Seattle, WA
ETG Headquarters
Yokohama
Germany
ETG Office
ETG Office
Nuremberg
China
Korea
Beijing
Seoul
August 2012
Key Yoo,
KOR
EtherCAT Technology Group Structure

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
ETG Membership Development

As of July 2nd, 2012: 2050 Members
EtherCAT is:
- Faster
- Synchronization
2000
- Flexible Topology
- Cost effective
1500
May 2011 May 2012:

+ 380
- Well proven
- Open
- Conformance
1000
- Safety
- Redundancy
- Versatile
500
Nov-03
Feb-04
May-04
Aug-04
Nov-04
Feb-05
May-05
Aug-05
Nov-05
Feb-06
May-06
Aug-06
Nov-06
Feb-07
May-07
Aug-07
Nov-07
Feb-08
May-08
Aug-08
Nov-08
Feb-09
May-09
Aug-09
Nov-09
Feb-10
May-10
Aug-10
Nov-10
Feb-10
May-11
Aug-11
Nov-11
Feb-12
May-12
0
90
ETG Membership Distribution

100%
90%
Asia
80%
70%
60%
50%
America
EtherCAT Technology
Group is a truly
Global Organization
Europe
w/o Germany
40%
> 2000
members
35
members
30%
Germany
20%
Germany
Europe w/o Germany
America
Asia
ROW
ETG Members Asia

July 2nd 2012:
607 Asian Members
EtherCAT is:
- Faster

600

- Flexible Topology
500

- Synchronization
- Cost effective
- Well proven
- Open
400
300
- Conformance
- Safety
- Redundancy
- Versatile
200
100
0
Asia (others)
Japan
China+Taiwan
Korea
May 2011 May 2012:

+ 149!
ETG Members North America

Jan 23rd 2012:
254 American Members
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
300
250
200
150
- Conformance
- Safety
100
- Redundancy
- Versatile
50
0
America (others)
Canada
USA
Feb 2011 Feb 2012:

+ 34%
ETG Members Korea

March 20th 2012:
79 Korean Members
EtherCAT is:
- Faster

80
- Flexible Topology
60
- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
70
Korea
50
40
30
20
10
0
August 2012
Members from 54* Countries, 6 Continents

*as of May 2012
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
Argentina
Canada
Australia
China
Austria
Belgium
Belarus
Columbia
Croatia
Bosnia and
Herzegovina
Czech Rep
Brazil
Denmark
Bulgaria
Finland
France
Germany
Greece
Hungary
India
Iran
Ireland
Israel
Italy
Japan
Korea
Lebanon
Latvia
Liechtenstein
Lithuania
Malta
Mexico
Netherlands
New Zealand
Norway
Poland
Portugal
Romania
Russia
San Marino
Serbia
Singapore
Slovakia
Slovenia
South Africa
Spain
Sweden
- Open
- Conformance
- Safety
- Redundancy
- Versatile
Switzerland
August 2012
Taiwan
Thailand
Turkey
Ukraine
United Kingdom
USA

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
ETG Office
*as of March 2012
August 2012

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
ETG Office
*as of March 2012
August 2012
How many members invest in the technology?
- Faster

- Flexible Topology

- Synchronization
- Cost effective
One indicator: implementation kits sold.
Until now, Beckhoff alone has sold over 1300 kits

(78% slave kits, 22%(!) master kits)
+ there are slave implementation kits + master stacks from

many other vendors*, such as
- Well proven
- Open
- Safety
- Redundancy
- Versatile
August 2012
Slave
- Conformance
Beck IPC
Deutschmann
EBV Elektronik
Hilscher
HMS anybus
IXXAT Automation
koenig-pa
port
Red one
Soft Servo Systems
ST Microelectronics
Terasic Technologies
Tetra
Xilinx
Master
EtherCAT is:
acontis
esd
igH
IXXAT Automation
Kithara
Koenig-PA
MicroSys
Profimatics
Sybera
* Only those listed that have entered their

offering in the EtherCAT Product Guide
ETG: Active Members

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
Hannovermesse 2012: 68 Vendors with over 280 different

EtherCAT Devices at ETG booth:
35 different drives from 24 manufacturers
jointly operating in one network
25 different functional Masters in one setup,
using 10 different operating systems
Safety devices (master + slave devices) from
several manufacturers operating in one system
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT: Large Product Selection

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
I/O, Controller, HMI, Servo Drives, Variable Speed Drives

Sensors, Slave + Master Development Kits
Control Panels, Hydraulic Valves
and Pneumatic Valves,
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT Drive Suppliers

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
2010 2011 2012
67
83
99
- Redundancy
- Versatile
(Vendors that ship or have announced EtherCAT drives as of 7/2012. Not all products shipping yet)
EtherCAT Multi-Vendor Servodrive Demo

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
35 different Axes,
24 different Vendors
1 EtherCAT Network
Adoption Rate in Masters (Controller)

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
2010 2011 2012
85 113 140
- Redundancy
- Versatile
(Vendors that ship or have announced EtherCAT master devices as of 7/2012. Not all products shipping yet)
Adoption Rate in I/O: EtherCAT

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
ABB
Ackermann
ACS Motion Control
Addi-Data
Adlink
AFT Fahrzeugtechnik
Algo System
Amoy Dynamics
Anca
AutomationX
B&R
Balluff
Baumller
BBH
Beckhoff
Belden
Berghof
Bosch Rexroth
CEC
CSM
Deif
Dina Elektronik
dSPACE
Eckelmann
esd
Festo
Gantner
Grossenbacher
HBM
Helmholz
IDS
Imc/Additive
Jger Messtechnik
Jumo
KEB
KEBA
Keyence
Knestel
Kolektor Synatec
Kollmorgen
Kuhnke
Lenze
M-System
MaVi
Messung
MicroControl
Microinnovations/Eaton
Mikrap
MKS Instruments
MKT Systemtechnik
MSC
MTT
Murrelektronik
M-System
National Instruments
Omron
Panasonic SUNX
Power Instruments
Prima Electro
Schweitzer Engineering
Laboratories / SEL
SEW Eurodrive
Shanghai Xinhua
SHF
SMC
Sontheim
Industrie Elektronik
TETRA
TexComputer
TR Elektronik
Turck
Unidor
Unitro
VIPA
Wago
2010 2011 2012
43
52
72
(Vendors that ship or have announced EtherCAT I/O devices as of 7/2012. Not all products shipping yet)
EtherCAT Master OS Technology Variety
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
EtherCAT Masters implemented on wide range of RTOS*
eCos
Integrity
INtime
Linux with RT-Preempt
Microware OS-9
MQXTM
On Time RTOS-32
Oracle Solaris (SunOS)
PikeOS
Proconos OS
QNX
Real-Time JavaTM
RMOS
RTKernel
RT-Linux
RTX
RTXC
RTAI Linux
SCALE-RT
TKernel
VxWin + CeWin+ RTOS32Win+LxWin
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
C/OS-IITM
*as of July 2012
Conformance and Interoperability

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
August 2012

Conformance and interoperability are very important

factors for the success of a communication technology
Conformity to the specification is an obligation to all users of
the EtherCAT technology
Therefore the EtherCAT Conformance Test Tool (CTT) is
used
Test Cases for the CTT are provided by the Working Group
Conformance within the ETG community
The EtherCAT Conformance Test proves conformance
with issuing a certificate after passing the test at an official
EtherCAT Test Center (ETC)
Safety over EtherCAT

Material feeding
Muting
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
Two-Hand control
Protection of workspace
e.g. with Laser scanner
Emergency
stop
Operator
Diagnosis
- Safety
- Redundancy
- Versatile
Safely-limited
Position / Speed
Door guarding
with
Interlocking
Setup /
Maintenance
Safety guard
August 2012
Modern Machine Safety Concepts
August 2012
Safety over EtherCAT: Features

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Safety over EtherCAT (FSoE) defines a safety

communication layer for the transportation of safety
process data between Safety over EtherCAT devices.
FSoE is an open technology within the EtherCAT
Technology Group (ETG).
The protocol is developed according to IEC 61508
It meets the Safety Integrity Level (SIL) 3
Residual Error Probability R(p) < 10-9
The protocol is approved by an independent Notified

Body (TV)
Safety over EtherCAT: Features (2)

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
August 2012
FSoE Frame is mapped in the cyclic PDOs

Minimum FSoE Frame-Length: 6 Byte
Maximum FSoE Frame-Length: depending on the number of
safe process data of the Slave Device
Therefore the protocol is suitable for safe I/O as well as for
functional safe motion control
Confirmed transfer from the FSoE Master to the FSoE

Slave and vice versa.
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.
Safety over EtherCAT: Features (3)

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
August 2012
The FSoE specification has no restrictions according to:

Communication layer and interface
The communication layer is not part of the safety measures:
black channel
(assumed unsolved bit error rate: p = 10-2)
Transmission speed
Length of safe process data
(lenght of safe process data is arbitrary)
Routing via unsafe gateways, fieldbus systems or

backbones is possible
Safety over EtherCAT: Routing

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
Can be routed via non-safe gateways

Can be routed via fieldbus systems
One Safety technology for (almost) all bus systems
- Safety
- Redundancy
- Versatile
August 2012
Safety over EtherCAT: Software Architecture

Device 1
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
Device 2
Safety
Application
Safety
Application
Standard
Application
Standard
Application
Safety over
EtherCAT
Protocol
Safety over
EtherCAT
Protocol
EtherCAT
Communication Interface
EtherCAT
Communication Interface
- Redundancy
EtherCAT Telegram
- Versatile
Safety data container (FSoE Frame)
EtherCAT is used as a "black channel"

It contains safety and standard information
August 2012
Safety
over
EtherCAT
EtherCAT
DLL and AL
Safety over EtherCAT: Hardware Architecture

One channel communication system
- Flexible Topology

- Synchronization
- Cost effective
According to model A of IEC 61784-3 Annex A
Device
Controller A
Safety
Protocol
Controller A
Safety
Protocol
- Well proven
- Conformance
- Redundancy
- Versatile
August 2012
In
Port
PHY
RJ45
- Safety
Magnetics
- Open

Controller B
Safety
Protocol
Controller B
Safety
Protocol
EtherCAT
Slave Controller
RJ45

Magnetics
- Faster
PHY
EtherCAT is:
Out
Port
Safety over EtherCAT: Frame Structure

Device 1
EtherCAT is:
- Flexible Topology

- Synchronization
- Cost effective
Standard
Application
FSoE
Protocol
- Well proven
- Open

- Conformance
- Safety
EtherCAT
Communication interface
EtherCAT Frame
Ethernet
Header
EtherCAT 1. DataHeader
gram
2. Datagram
FSoE

FSoE Frame
Safety
Application
HDR
- Faster
Process Data
FSC
- Redundancy
- Versatile
FSoE Frame
CMD
August 2012
Safe
Data 0
CRC_0
Safe
Data 1
CRC_1
Safe
Data n
CRC_n Conn ID
The FSoE Frame is

embedded as a
Container in the
process data of the
device.
Each device detects
a new FSoE Frame,
if at least one Bit in
the FSoE Frame is
changed.
Every 2 Byte SafeData
are checked by a 2
Byte CRC
The maximum number
of SafeData is
therefore not
restricted by the
protocol.
Safety over EtherCAT: Safety Measures

EtherCAT is:
- Faster
Measure

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
Error
Watchdog
Connection
ID
CRC
Calculation
Unintended repetition
Loss
Insertion
Incorrect sequence

Corruption
Unacceptable delay
Masquerade
Repeating memory errors

in Switches
Incorrect forwarding
between segments
August 2012
Sequence
Number
Safety over EtherCAT: Implementation Example

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
Decentralized Safety-Logic
Standard PLC routes the safety messages
Standard
PLC
Safety Inputs
- Well proven
- Open

- Conformance
Safety Outputs
- Safety
- Redundancy
- Versatile
S
S
S
Safety Drives
August 2012
Safety Logic
Safety over EtherCAT: Advantages

Fully integrated solution:
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
August 2012
safe and standard communication in one channel
Reduction of fieldbuses and interfaces

Central configuration, diagnosis and maintenance for
safe and unsafe I/O in one tool
Safety application makes full use of EtherCAT
advantages:
Short reaction times

Almost unlimited number of nodes
Large network extensions
Cable redundancy options
High Flexibility with Hot Connect
Without Redundancy: Normal Operation

EtherCAT is:
- Faster
EtherCAT Master

RX Unit
TX Unit
- Flexible Topology
RX
TX

- Synchronization
- Cost effective
MAC 1
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
RX
Slave 1
Slave 2
Slave N
RX
TX
RX
TX
...
TX
August 2012
TX
RX
RX
TX
TX
RX
...
TX
RX
Without Redundancy: Cable Failure

EtherCAT is:
- Faster
EtherCAT Master

RX Unit
TX Unit
- Flexible Topology
RX
TX

- Synchronization
- Cost effective
MAC 1
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
RX
TX
Slave 1
Slave 2
Slave N-1
Slave N
RX
TX
RX
TX
RX
TX
...
TX
August 2012
RX
RX
TX
TX
RX
...
TX
RX
TX
RX
Without Redundancy: Node or Cable Failure

EtherCAT is:
- Faster
EtherCAT Master

RX Unit
TX Unit
- Flexible Topology
RX
TX

- Synchronization
- Cost effective
MAC 1
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
RX
Slave 1
Slave 2
RX
TX
RX
TX
TX
Slave N-2
Slave N-1
Slave N
RX
RX
TX
TX
...
TX
August 2012
RX
RX
TX
TX
RX
...
TX
RX
TX
RX
TX
RX
With Redundancy: Normal Operation

EtherCAT is:
- Faster
EtherCAT Master

RX Unit
TX Unit
- Flexible Topology
RX
TX

MAC 1
MAC 2
- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
RX
RX
TX
Slave 1
Slave 2
Slave N
RX
TX
RX
TX
...
TX
August 2012
TX
Only 2nd
Ethernet
Port required
no special
Interface Card
RX
RX
TX
TX
RX
...
TX
RX
With Redundancy: Cable Failure

EtherCAT is:
- Faster
EtherCAT Master

RX Unit
TX Unit
- Flexible Topology
RX
TX

MAC 1
MAC 2
- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
RX
TX
RX
TX
Slave 1
Slave 2
Slave N-1
Slave N
RX
TX
RX
TX
RX
TX
...
TX
RX
TX
TX
RX
...
TX
RX
TX
Switchover time: < 15s
August 2012
RX
RX
With Redundancy: Node or Cable Failure

EtherCAT is:
- Faster
EtherCAT Master

RX Unit
TX Unit
- Flexible Topology
RX
TX

MAC 1
MAC 2
- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
RX
Slave 1
Slave 2
RX
TX
RX
TX
TX
RX
TX
Slave N-2
Slave N-1
Slave N
RX
RX
TX
TX
...
TX
August 2012
RX
RX
TX
TX
RX
...
TX
RX
TX
RX
TX
RX
EtherCAT: High availability

Cabling redundancy
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
2nd Ethernet port needed on master side only
Hot Swap of devices

Hot Connect of network segments
Master Redundancy with Hot Stand By
Master
- Redundancy
- Versatile
August 2012
Hot Connect
Group
EtherCAT: versatile system architecture

EtherCAT is:
- Faster
- Synchronization

- Flexible Topology

- Cost effective
Master to Slave
Slave to Slave
Master to Master
M2S
Switchports
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
Master
M2M
Gateways

M2S
Master
August 2012
S2S

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
August 2012
EtherCAT Automation Protocol: Application

MES
OPC
Controller
Je Verbindung:
10ms cycle
IN 1kByte
OUT 1kByte
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
Visu
zum Controller und

allen Stationen
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
StationsMaster
StationsMaster
StationsMaster
StationsMaster
StationsMaster
StationsMaster
10 ms cycle
StationsMaster
Einschleusen
August 2012
StationsMaster
Einschleusen
StationsMaster
ProzessKammer
ProzessKammer
ProzessKammer
Ethernet Connection
EtherCAT Segment
OPC
ProzessKammer
ProzessKammer
Ausschleusen
Ausschleusen
StationsMaster
Ausschleusen
EtherCAT and Wireless Communication

EtherCAT is:
- Faster
- Synchronization

- Flexible Topology

- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
Wireless Devices can be connected via Switchport

Wireless segment does not slow down EtherCAT
communication
Protocol: EtherCAT Automation Protocol
Pushed and/or Polled Process Data Exchange
Wireless Segment transparent for Master Device

Master
Switchport
e.g. RFID Reader
August 2012
EtherCAT and Wireless Communication

EtherCAT is:
- Faster
- Synchronization

- Flexible Topology

- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
Wireless Devices can be connected via Switchport

Wireless segment does not slow down EtherCAT
communication
Protocol: EtherCAT Automation Protocol
Pushed and/or Polled Process Data Exchange
Wireless Segment transparent for Master Device

Switchport
Master
Master sees
process data of
underlying system
as local I/O data
August 2012
e.g. Card or RFID Reader
Master with or
without control
application
Why do Companies choose EtherCAT?

High Performance
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
EtherCAT is the fastest Industrial Ethernet technology
Flexible Topology
Benefit not only for widely distributed applications
Ease of Use
Easy configuration and maintenance
Low Cost
Inexpensive implementation & infrastructure
Functional Safety
Safety communication integrated
Product Variety
Great variety of available EtherCAT products
August 2012
EtherCAT Application Fields

Fast applications, e.g.:
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
August 2012
packaging machines
high speed presses
injection molding machines
woodworking machines
machine tooling (CNC)
test beds
robotics
Widely distributed applications, e.g.:
materials handling
logistics
data acquisition
EtherCAT Application Fields

Due to low cost master and simple wiring as well:
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy
- Versatile
August 2012
Small Embedded Controller

Small PLCs
Any PC based Control Application
with or without real time requirements
EtherCAT allows one to apply fieldbus technology where

cost issues require direct wiring today

EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
- Well proven
- Open

- Conformance
- Safety
- Redundancy

- Versatile
August 2012
Why go for something slower,

just because it is more
expensive?

Please visit
EtherCAT is:
- Faster

- Flexible Topology

- Synchronization
- Cost effective
www.ethercat.org
for more information
- Well proven
- Open

- Conformance
- Safety
- Redundancy

- Versatile
EtherCAT Technology Group

ETG Headquarters
Ostendstr. 196
90482 Nuremberg, Germany
Phone: +49 911 54056 20
info@ethercat.org
August 2012

EtherCAT Introduction

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The Ethernet Fieldbus.

EtherCAT - The Ethernet Fieldbus.

EtherCAT is real time down to the I/O level

EtherCAT Technology Group, 2012

EtherCAT - The Ethernet Fieldbus.

Other technologies need local I/O cycles + gateways

EtherCAT Technology Group, 2012

Master for Local

EtherCAT - The Ethernet Fieldbus.

EtherCAT: Real time down to the I/O

EtherCAT Technology Group, 2012

EtherCAT - The Ethernet Fieldbus.

EtherCAT is real time down to the I/O level

EtherCAT Technology Group, 2012

256 digital I/O in 11 s

EtherCAT Technology Group, 2012

Bandwidth Usage of Ethernet for I/O and Drives:

Data pay load:

Request with output data

Response with input data

with 4 Byte input + 4 Byte output per node:

EtherCAT Technology Group, 2012

Bandwidth Usage Comparison:

From 2 Bit user data per node:

EtherCAT Technology Group, 2012

Functional Principle: Ethernet on the fly

Analogy Fast Train:

Functional Principle: Ethernet on the Fly

Efficient: Typically only one Ethernet Frame per Cycle

EtherCAT Technology Group, 2012

Functional Principle: Ethernet on the Fly

Efficient: Typically only one Ethernet Frame per Cycle

EtherCAT Technology Group, 2012

Functional Principle: Ethernet on the fly

Process data is extracted and inserted on the fly:

EtherCAT Technology Group, 2012

Functional Principle: Ethernet on the fly

Ethernet Header ECAT HDR

Minimal protocol overhead via implicit addressing

Performance: Application Example

40 Axis (each 20 Byte Input- and Output-Data)

in spite of this cycle time still 56%

EtherCAT Technology Group, 2012

Slow Control Systems benefit, too

Reaction time with legacy fieldbus I/O:

best case reaction time

EtherCAT Technology Group, 2012

Slow Control Systems benefit, too

System Architecture with EtherCAT:

no dedicated Master Device any more

on underlying extension bus any more

EtherCAT Technology Group, 2012

Slow Control Systems benefit, too

System Architecture with EtherCAT:

EtherCAT Technology Group, 2012

TDMA = Time for Data Transfer

Slow Control Systems benefit, too

Reaction Time with EtherCAT:

Reaction time reduced significantly with the same controller

EtherCAT Technology Group, 2012

Fieldbus: requires Mapping in Control System

Traditional fieldbus system generate physical process image

Control System, e.g. IPC

logical process images