02 EtherCAT Introduction PDF

The Ethernet Fieldbus.
Ethernet for Real-Time Communication
Main Performance Problems:

1. Bandwidth Utilization
2. Stack Delays
3. Switch Delays
Oct 2014 © EtherCAT Technology Group EtherCAT Introduction and Overview

1. Industrial Ethernet Bandwidth Utilization
Minimum Ethernet Frame: 84 Bytes

Example: with 4 Bytes Process Data (32 I/O): 4/84 =
4,75% Application Data Ratio

≥ 84 Bytes, regardless which Protocol
14 Bytes Process Data, e.g. 1..4 Bytes 4 B. 14 Bytes
Process FCS Interpacket

Ethernet HDR Ethernet Frame Payload: min. 46 Bytes CRC
Data Gap
≥ 84 Bytes, e.g. with
Payload e.g.
14 Bytes 20 Bytes 8 Bytes 20 Bytes 4 Bytes 4 B. 14 Bytes
UDP Ethernet/IP FCS

Process Interpacket
Ethernet HDR IP HDR
HDR CIP HDR Data CRC Gap

Industrial Ethernet Bandwidth Utilization

2. Industrial Ethernet Stack Delays
I/O Ports
Device Profile
Industrial Ethernet
Application Objects
(e.g. I/O)
Protocol Stacks are
CIP
Network & Transport
Implicit
Msg
Explicit
Msg
BIG
CIP Message
Encapsulation
IP
Encapsulation
TCP UDP
Processing then
IP
needs
Ethernet
MAC
TIME
Stack Performance Comparison (I)
• Stack performances of the Ethernet technologies differ substantially,

due to the different complexity of the stacks
• Softing, a German specialist for field bus technology published*
the following comparison of the stack delay times:
Stack Time Profinet IO Ethernet/IP EtherCAT

Average 0.58 ms 1.89 ms 0.11 ms
Max: 0.74 ms 2.96 ms 0.18 ms
Min: 0.54 ms 1.23 ms 0.05 ms
• All three protocols were implemented on the same hardware

(interface board with FPGA + Softcore CPU) and by the same team,
so they are indeed comparable
* Source: „Einer für alle; Flexible Real-Time-Ethernet Anschaltung mit FPGA“,
messtec drives Automation Real-Time Ethernet Sonderheft 2010, by Frank Iwanitz,
Business Development Manager Real-Time Ethernet at Softing GmbH, Munich, Germany
Stack Performance Comparison (II)
• Softing stack performance data shown in a diagram,

+ Beckhoff EtherCAT Slave Stack Code (SSC*)
EtherCAT (SSC)
EtherCAT
Min
Max
Average
Ethernet/IP
Profinet IO
0 0,5 1 1,5 2 2,5 3
* SSC Stack Delay time measured on EL9800 EtherCAT Evaluation Kit

using the 10 Mhz Serial Process Data Interface and a 40 MHz
16 Bit PIC CPU; 2 Byte Output Data, min 15µs, max 20µs
3. Industrial Ethernet Switch Delays
Switch Buffer Delay:

Unpredicable „by Nature“
Buffer delay depends on

buffer load @ frame arrival.
QoS (Quality of Service)
eases the pain by
introducing multiple
priorities (and buffers), but
does not resolve the issue.

3. Industrial Ethernet Switch Delays
Almost all Switches use „Store

& Forward“
Line Topology means cascaded Switches
Substantial accumulated delay and jitter even

without buffer delay (if switches are idle).
Typical Store & Forward Delay per switch: Frame length (7…122µs) + 3µs.
Example: Full frame, 20 nodes in line topology: 2,5 ms
Internal Internal
Switch Internal Switches Switch Switch Switch

Ethernet for Real-Time Communication?
20ms
8ms
Quote: „RT in Profinet provides similar Quote: „When tested up to 80 percent

Real-Time properties like Profibus“ network bandwidth utilization, using both
managed and unmanaged switches, the
Source: Profibus International system managed 16 position configured
http://www.profibus.org.pl/index.php?option=com_docman&task=doc_view&gid=28
axes with an 8 ms coarse update rate. “
Source: Rockwell Automation, White Paper:

“Scalability-The Best Approach to Change”, Aug 2012
http://literature.rockwellautomation.com/idc/groups/literature/documents/wp/ia-wp002_-en-p.pdf

EtherCAT: Performance Breakthrough
EtherCAT is:
- Faster
- Industrial Ethernet
- Flexible Topology
- Easier to configure
- Cost effective
- Easier to implement
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
© harvepino - Fotolia.com
EtherCAT: highest Performance
EtherCAT is:
- Faster The fastest Industrial
Ethernet Technology
- Flexible Topology
- Easier to configure • 1000 distributed digital I/O in 30µs
- Cost effective
• 100 Servo-Axis every 100 µs
- Well proven
• EtherCAT directly to the I/O Slice, no Sub-Bus
- Open
- Conformance • Optimal Usage of the Standard Ethernet Port in the
- Safety Controls, no extra hardware
- Redundancy
- Versatile • Reason for this unique performance:
The EtherCAT Functional Principle (Ethernet on the Fly)

Functional Principle: Ethernet „on the fly“
EtherCAT is:
- Faster
- Synchronization
- Flexible Topology
Car
- Easier to configure 27
- Cost effective
- Well proven
- Open
- Conformance
- Safety
• Analogy Fast Train:
- 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
Oct 2014 EtherCAT Introduction and Overview

Functional Principle: Ethernet “on the Fly“
• Efficient: Typically only one Ethernet Frame per Cycle

• Ideal Bandwidth Utilization for maximum Performance

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

EtherCAT resolves the Performance Problems
Main Performance Problems:

1. BandwidthResolved!
Utilization
2. Stack Delays
Resolved!
3. Switch Delays
Resolved!

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

- Faster
• No underlying sub-systems any more
- Synchronization
- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is: • Other technologies need local I/O cycles + gateways

- Faster
- Synchronization
RAM
Master for Local

Extension Bus
- Flexible Topology
Controller
Fieldbus
Driver
- Easier to configure CPU
- Cost effective
I/O
I/O
I/O
I/O
- Well proven Flash
- Open
- Conformance
- Safety
- Redundancy RAM
- Versatile
Controller
Fieldbus
Driver
I/O
CPU
Flash

EtherCAT is: • EtherCAT: Real time down to the I/O

- Faster
- Synchronization
- Flexible Topology
Controller
Controller
Controller
Controller
Controller
EtherCAT
EtherCAT
EtherCAT
EtherCAT
EtherCAT
Driver
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

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 Topology • In- and outputs, sensors, actuators, drives, displays:
- Easier to configure everything in one system!
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

‘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 Topology
- Cost effective Tmpd
- Well proven
- Open
Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle
- 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 Topology
- Easier to configure 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
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 Topology
- Cost effective
- Well proven
- Open
- Conformance TDMA (NIC)
TDMA = Time for Data Transfer
- Safety
from/to Ethernet Controller via
- Redundancy
Direct Memory Access:
- Versatile neglectible
TEtherCAT Cycle

EtherCAT is: Reaction Time with EtherCAT:

- Faster
- Synchronization
- Flexible Topology
- 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 image

- Faster
• This has to be mapped to logical process image(s)
- Synchronization
- Flexible Topology
- Easier to configure Control System, e.g. IPC
Feldbus Scanner/
node 1
- Cost effective
DPRAM Master
logical process images
node 1
- Well proven Data n
- Open PLC Data

node 2 node 2
- Conformance
NC Data
- Safety
node 3
- Redundancy
node 4
- Versatile node 3
Mapping
node 4

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

EtherCAT: Mapping moved into Slave Devices
EtherCAT is: Master
- Faster
- Synchronization
logical process images up to 4 GByte
- Flexible Topology
- Cost effective ECAT
HDR 1
HDR 2
HDR 3
Ethernet Header
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
Synchronization
Synchronization
EtherCAT is:
- Faster
- Synchronization
- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
Synchronization
Source: konflikty.pl
Timing – Synchronous with Frame
Sampling error
Position
because of jitter
Signal
=x
Gradiant = velocity equidistant
~4 µs Master
Jitter
Sample
Point
108 µs 94 µs 101 µs 104 µs
100 µs Cycle Time

Error due to
sample deviation
Velocity
= x‘
EtherCAT
Out In Calc. Out In Calc. Out In Calc. Out In Calc. Out In
D/A D/A D/A D/A D/A
A/D A/D A/D A/D A/D
Not in sync with IN

Timing – Synchronous with Frame
EtherCAT is: Problems of this approach

- Faster
- Synchronization • I/O signal timing depends on Master
• Modern (multicore) CPU systems
- Flexible Topology
- Easier to configure will always jitter in the range of 1.. 5 µs
- Cost effective
- Well proven  Measuring error due to sample deviation:
- Open
May need special Hardware in the Master
- Conformance
- Safety
- Redundancy
- Versatile
Solution
• Timing with Distributed Clock (DC) System

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

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

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

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

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

- Faster  of Distributed Clocks
- Synchronization
- Flexible Topology
M
S
IPC ∆t
- 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  • 300 Nodes in between, 120m Cable Length
- Synchronization
- Flexible Topology
Interrupt
Node 1
- Cost effective
- Well proven Simultaneousness:
- Open
~15 ns
- Conformance Jitter: ~ +/-20ns

- Safety
- Redundancy
- Versatile
Interrupt
Node 300

Synchronous with Distributed Clocks
Position
Signal
=x
DC
Sample Sync
Point
100 µs 100 µs 100 µs 100 µs
equidistant
100 µs Cycle Time

No
sampling
Velocity Error
= x‘
Sync In Sync Out

EtherCAT
Calc. Out In Calc. Out In Calc. Out In Calc. Out In
D/A D/A D/A D/A
A/D A/D A/D A/D

Synchronization of multiple Networks
EtherCAT is: • EtherCAT networks can be coupled via EtherCAT Bridge

- Faster  • Bridge provides hardware synchronization of several networks
- Synchronization 1
- Flexible Topology MASTER
SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE
1
2
- Cost effective
MASTER
- Well proven 2
- Open 3
- Conformance
- Safety MASTER
SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE
3
- Redundancy
- Versatile
SLAVE SLAVE SLAVE

Synchronization of multiple Networks
EtherCAT is: • EtherCAT networks can be coupled via EtherCAT Bridge

- Faster  • Bridge provides hardware synchronization of several networks
- Synchronization 1
- Flexible Topology S MASTER
S
- Easier to configure Y 1 Y
N N
- Cost effective
C 1 C
- Easier to implement H H
MASTER SLAVE
- Well proven R 2
SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE
R
2
- Open
O SLAVE
O
N N
- Conformance 1
O O
- Safety U MASTER SLAVE
SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE U
S 3 3
- Redundancy SLAVE S
- Versatile
SLAVE SLAVE SLAVE

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

- Faster 
- Synchronization IEEE 1588
Grandmaster
- Flexible Topology
M Boundary
S Clock
- Well proven S
S
- Open
- Conformance
- Safety S S S S
- Redundancy
- Versatile

EtherCAT is Industrial Ethernet!
EtherCAT is: • fully transparent for TCP/IP

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

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

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

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

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

Vertical Integration (1)
EtherCAT is: …via Switchport

- Faster 
- Industrial Ethernet Master
- Flexible Topology
- 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

Vertical Integration (2)
EtherCAT is: ...via 2. Ethernet Port

- Faster 
- Industrial Ethernet Master
- Flexible Topology
- Cost effective
2nd Ethernet
- Well proven Port
- Open
- Conformance
- Safety
+ any Ethernet Protocol can be used
- Redundancy + EtherCAT performance is not limited
- Versatile
- but: requires second Ethernet Port (at IPC/Controller)

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

- Faster 
- Industrial Ethernet 
- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT is: • Flexible topologies – arbitrarily extendable

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

EtherCAT Extra Large System Test
EtherCAT is:
- Faster 
- Flexible Topology
- Cost effective
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
10.056
EtherCAT Nodes

EtherCAT is: • Ethernet Signal Variants of EtherCAT:

- Faster  – 100BASE-TX (up to 100 m between 2 nodes)
- Synchronization  – 100BASE-FX (up to 20 km between 2 nodes (single mode fibre) )
- Flexible Topology
– LVDS (for modular devices)
- Easier to configure LVDS*
- Cost effective 100 m
- Well proven 20 km
- Open
Master
- Conformance
- Safety
- Redundancy Ethernet on Ethernet on
100BASE-TX 100BASE-FX
- Versatile up to 100 m (fibre optics)
with transformer up to 20 km
coupling Ethernet on LVDS* physical layer:
for modular devices
• Any number of physical layer changes allowed

*LVDS: Low Voltage Differential Signaling according to ANSI/TIA/EIA-644,
also used in IEEE 802.3ae (10 Gigabit Ethernet)
EtherCAT instead of PCI
EtherCAT is: • Protection of your investment

- Faster  • Smooth migration path from legacy fieldbus to EtherCAT
- Synchronization  • Seamless integration of existing fieldbus devices, e.g.:
- Industrial Ethernet  – AS-Interface
- Flexible Topology – BACnet MS/TP
- Easier to configure – CANopen
- Cost effective – CC-Link
- Easier to implement – ControlNet
- Well proven – DeviceNet
- Open – Ethernet/IP
- Conformance – FIPIO
- Safety – Interbus
- Redundancy – IO-Link
- Versatile – Lightbus
– LonWorks
– Modbus Plus, RTU, TCP
– PROFIBUS
– PROFINET IO
– …
• Maximum system expandability with low cost fieldbus gateways
EtherCAT instead of PCI
EtherCAT is: • No Slots in Control System (IPC or PLC) required any

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

EtherCAT is easier to configure
EtherCAT is:
- Faster
• Topology:

- Synchronization  • Automatic Topology Expected/Actual Comparison
- Flexible Topology  • Diagnosis: Every node
- Easier to configure constantly
- Cost effective
• Diagnosis with exact Localization monitors
checksum
- Well proven M
- Open
Bit errors are
- Conformance detected and
- Safety localized
- Redundancy
- Versatile
Even Timing Errors (e.g. Time Window for Actual Values

missed) are detected and stored locally in the chip

EtherCAT is easier to configure
EtherCAT is: • Network planning:

- Faster 
- Synchronization
– Performance independent of:

- Industrial Ethernet  • Slave implementation
- Flexible Topology  (no Stacks involved in Process Data Communication)
- Easier to configure • Topology (no Switches/Hubs)
- Cost effective
• Addressing
- Well proven – No manual address setting required
- Open – No IP- or MAC-Address Handling Required
- Conformance
- Safety
– Addresses can be assigned automatically
- Redundancy – Addresses can be kept
- Versatile • no new addressing if nodes are added

EtherCAT is lower costs (1): Engineering
EtherCAT is: • Less effort for Network planning:

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

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

- Faster 
- Synchronization
– no dedicated plug in card (co-processor)

- Industrial Ethernet  – on-board Ethernet Port is fine
- Flexible Topology 
- Easier to configure 
- Cost effective • Slave:
– low cost Slave Controller
- Well proven
32 Bit
- Open
• FPGA or ASIC
µC
- Conformance – for simple devices: no µC needed
- Safety
– no powerful µC + lots of memory needed
- Redundancy
- Versatile
• Infrastructure:
– no Switches/Hubs required
– Standard Ethernet Cabling + Connectors

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

- Faster  – All time critical functions implemented on ASIC or FPGA
- Synchronization  • ESC handles Real-time Protocol in Hardware
– Integrated Communication State Machine
- Easier to configure – Network Performance independent of

- Cost effective  • Slave-µC Performance
- Easier to implement • Protocol Stack
- Well proven – For usage with or without µC (Host CPU)
- Open – Integrated DPRAM (1…8kByte)
- Conformance
– Integrated Distributed Clock Handling
- Safety
- Redundancy
– Ultra precise interrupts to µC
- Versatile

New EtherCAT Slave Controller Chips
TI's Sitara™
Renesas
µP family
EtherCAT is: R-IN32M3-EC
- Faster
- Synchronization
- Industrial Ethernet Beckhoff ®
ET1100 Hilscher Innovasic
- Flexible Topology netX® 50 Hilscher Anybus Fido5000
netX® 51/52/6 NP40
- Cost effective
Hilscher Beckhoff ®
- Easier netX 100/500
®
to implement ET1200
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile
IP-Core for FPGA of
Intel® Atom™ E6x5C IP-Core for
IP-Core for Altera® Cyclone™-V
IP-Core for Xilinx®
Altera ®
Spartan™-6
IP-Core
Stratix™-IV
Xilinx®
Spartan™-3 IP-Core for Xilinx® Kintex™-7
IP-Core for
ESC10/20: IP-Core for
IP-Core for Xilinx®
Altera® Cyclone™-I Altera® IP-Core for
Altera® Artix -7 + Zync™
™
Cyclone™-II Altera®
Cyclone™-III
March
Oct 2014
2014 EtherCAT Introduction and Overview Cyclone™-IV IP-Core for Altera® Stratix™-V
EtherCAT is easier to implement: Master
EtherCAT is: • Master Implementation:

- Faster  – e.g. with Master Sample Code (Source)
- Synchronization  – EtherCAT Configuration Tool
- Flexible Topology
– XML Data format of ESI and ENI

- Easier to configure  Process Data (PD) Image
description
- Cost effective Application
 EtherCAT Realtime
- Easier to implement Configuration Tool
- Well proven
Process Data Mailbox
Parser
- Open .xml Image Services
.xml
.xml .xml
- Conformance init req. resp.

EtherCAT Slave EtherCAT Network cyclic
acyclic
- Safety Information (ESI) Files Information (ENI) File commands
commands
- Redundancy
EtherCAT Master Driver
- Versatile optional; for online functionality
(e.g. scanning for devices) Realtime
Ethernet Frames
Network Driver
Standard Ethernet MAC

EtherCAT is an open technology
EtherCAT is: • Protocol is disclosed completely:

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

EtherCAT in IEC 61800-7
EtherCAT is:
IEC 61800-7: Generic Interface and use of profiles for power drive systems
- Faster 
- Synchronization  IEC 61800-7-1: Interface Definition
Annex A: Annex B: Annex C: Annex D:
- Flexible Topology  Mapping to Mapping to Mapping to Mapping to
- Easier to configure CiA402 CIP PROFIdrive SERCOS*

- Easier to implement  IEC 61800-7-200: Profile Specifications
- Well proven 
- Open IEC 61800-7-201: IEC 61800-7-202: IEC 61800-7-203: IEC 61800-7-204:
Profile Profile Profile Profile
- Conformance CiA402 CIP Motion PROFIdrive SERCOS*
- Safety
- Redundancy IEC 61800-7-300: Mapping of Profiles to Network Technologies
- Versatile
IEC 61800-7-301 IEC 61800-7-304
B C
Mapping to Mapping to Mapping to ... ... Mapping to Mapping to Mapping to
CANopen** EPL EtherCAT SERCOS I/II SERCOS III EtherCAT
*SERCOS interface™ is a trademark of SI e.V.

**CANopen™ is a trademark of CAN in Automation e.V.
EtherCAT Architecture + Device Profiles
EtherCAT is:
- Faster EtherCAT Device

- Synchronization  File System, HTTP, FTP,… DEVICE Application
- Industrial Ethernet  Bootloader
The SERCOS* The CANopen**
- Flexible Topology  Process Data
Standard Standard
TCP UDP IDN Object Dictionary
- Well proven IP Service Channel SDO
 PDO
AT
File Access EN 50325-4 Map-
- Open MDT
IEC 61800-7-204 IEC 61800-7-201 ping
Ethernet
- Conformance IEC 61800-7-304 IEC 61800-7-301
- Safety FoE EoE SoE CoE CoE/SoE
- Redundancy Mailbox Process Data

- Versatile
EtherCAT Slave Controller
Ethernet Physical Layer
*SERCOS interface™ is a trademark of SI e.V.

**CANopen™ is a trademark of CAN in Automation e.V.
EtherCAT Master OS Technology Variety
EtherCAT is: • EtherCAT Masters implemented on wide range of RTOS*

– eCos
- Faster  – FreeRTOS™
– INTEGRITY®
- Synchronization  – INtime®
- Industrial Ethernet  – Linux (with RT-Preempt)
– Microware® OS-9
- Flexible Topology  – MQXTM
– On Time RTOS-32
- Easier to configure  – Oracle® Solaris (SunOS)
- Cost effective  – PikeOS
– Proconos OS
- Easier to implement  – QNX®
- Well proven – RMOS
 – ROS (Robot Operating System)
- Open – RTKernel
– RTLinux
- Conformance – RTX
- Safety – RTXC
– RTAI-Linux
- Redundancy – SCALE-RT
– TKernel
- Versatile – VxWin® + CeWin®+ RTOS32Win®+LxWin
– VxWorks®
– Windows® CE
– Windows® Embedded with IntervalZero RTX
– Windows® XP/XPE with CoDeSys SP RTE
– Windows® XPE/WES7/WES8 with TwinCAT RT-Extension
– Windows® NT/2000/XP/Vista/7/8 with TwinCAT RT-Extension
– XOberon
– XENOMAI Linux
– µC/OS-IITM
– µITRON
Oct 2014 EtherCAT Introduction and Overview *as of March 2014
EtherCAT is an open technology
EtherCAT is:
- Faster 
- Flexible Topology  • Foundation: November 2003
- Easier to configure  • Tasks: Support, Advancement and Promotion of
EtherCAT
- Well proven 
• The worlds largest fieldbus organization
- Open • More than 2900* member companies from
- Conformance 58 countries in 6 continents:
- Safety
– Device Manufacturers
- Redundancy
- Versatile
– End Users
– Technology Providers
• Membership is open to everybody
*as of Oct 2014

ETG Team Worldwide
Thomas Rettig, Martin Rostan, Joseph P. Stubbs, Dr. Karl Weber, Key Yoo, Dr. Guido Andrea Bock, Geng Cheng, Bin (Beryl) Fan,
GER GER USA GER KOR Beckmann, GER GER CHN CHN
Prof Dr. Yong-Seon Alessandro Figini,

Moon, KOR GER
Dr. YanQiang Liu, Burkart Lingner, Florian Häfele, Florian Hammel,

CHN GER GER GER
Fengjiao (Jojo) Fu Oliver Fels, Masanori Obata, Michele Beers, Christiane Heubusch, Rainer Hoffmann, Makiko Hori, Liliane Hügel,
CHN GER JPN USA GER GER JPN GER

EtherCAT Technology Group Structure
EtherCAT is:
- Faster 
- Well proven 
- Open
- Conformance
- Safety
- Redundancy
- Versatile

Oct 2014
0
500
1000
1500
2000
2500
3000
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
+ 407
Feb‐09
May‐09
© EtherCAT Technology Group EtherCAT Introduction and Overview

Aug‐09
Nov‐09
Feb‐10
May‐10
Aug 2013 – Aug 2014:
Aug‐10
Nov‐10
Feb‐10
May‐11
Aug‐11
ETG Membership Development
Nov‐11
As of October 2014: 2950 Members
Feb‐12
May‐12
Aug‐12
Nov‐12
Feb‐13
May‐13
Aug‐13
Nov‐13
Feb‐14
May‐14
Aug‐14
ETG Membership Distribution
100%
90%
Asia
80%
EtherCAT Technology Group:
70%
a truly Global Organization America

60%
50%
Europe
w/o Germany
40% 33 ~ 2900
members members
30%
Germany
20%
10%
Germany Europe w/o Germany America Asia ROW

Members from 58* Countries, 6 Continents
EtherCAT is:
- Faster Bosnia and
Argentina Australia Austria Belarus Belgium Brazil Bulgaria
Herzegovina
- Synchronization
- Flexible Topology Canada China Columbia Croatia Czech Rep Denmark Finland France
- Cost effective
- Easier to implement Germany Greece Hungary India Iran Ireland Israel Italy
- Well proven
- Open
- Conformance Japan Korea Lebanon Latvia Liechtenstein Lithuania Luxemburg Macedonia Malaysia
- Safety
- Redundancy
Mexico Netherlands New Zealand Norway Poland Portugal Qatar Romania
- Versatile Malta
Russia San Marino Serbia Singapore Slovakia Slovenia South Africa Spain
Sweden Switzerland Taiwan Thailand Turkey Ukraine United Kingdom USA
Oct 2014 EtherCAT Introduction and Overview *as of Oct 2014

How many members invest in the technology?
• One indicator: implementation kits sold.

EtherCAT is:
- Faster 
• Until now, Beckhoff alone has sold over 1800 kits
- Synchronization  (80% slave kits, 20%(!) master kits)
- Industrial Ethernet  • + there are slave implementation kits + master stacks from
many other vendors*, such as
- Easier to configure  – Beck IPC – acontis
- Cost effective  – Deutschmann – esd
- Easier to implement  – EBV Elektronik – igH
- Well proven  – Hilscher – IXXAT Automation
– HMS anybus
Master
- Open – Kithara
- Conformance – IXXAT Automation – Koenig-pa
- Safety – koenig-pa – MicroSys Electronics
Slave
- Redundancy
– port – Profimatics
– Nagano OKI – Sybera
- Versatile
– Red one technologies – …
– Soft Servo Systems
– STMicroelectronics
– Terasic Technologies
– TESSERA
– Xilinx * Only those listed that have entered their
– … offering in the EtherCAT Product Guide at
www.ethercat.org/products
EtherCAT: Largest Product Selection
EtherCAT is:
I/O, Controller, HMI, Servo Drives, Variable Speed Drives
- Faster 
Sensors, Slave + Master Development Kits
- Synchronization  Control Panels, Hydraulic Valves
- Industrial Ethernet  and Pneumatic Valves,
- Flexible Topology  …
- Well proven 
- Open
- Conformance
- Safety
- Redundancy
- Versatile
Official EtherCAT Product Guide:

www.ethercat.org/products
Conformance and Interoperability
EtherCAT is:
- Faster 
- Flexible Topology  • Conformance and interoperability are very important
- Easier to configure  factors for the success of a communication technology
- Cost effective  – Conformity to the specification is an obligation to all users of
the EtherCAT technology
- Well proven 
– Therefore the EtherCAT Conformance Test Tool (CTT) is
- Open 
used
- Conformance
- Safety – Test Cases for the CTT are provided by the Working Group
- Redundancy „Conformance“ within the ETG community
- Versatile – The EtherCAT Conformance Test proves conformance
with issuing a certificate after passing the test at an official
EtherCAT Test Center (ETC)

Safety over EtherCAT
EtherCAT is: Material feeding

Muting
- Faster 
- Synchronization Two-Hand control

- Industrial Ethernet  Protection of workspace
- Flexible Topology  e.g. with Laser scanner
- Easier to implement  Emergency
stop
- Well proven 
- Open  Operator
- Conformance  Diagnosis
- Safety
- Redundancy Safely-limited
- Versatile Position / Speed
Door guarding Setup /

with Maintenance
Interlocking
Safety guard

Modern Machine Safety Concepts

Safety over EtherCAT: Features
EtherCAT is:
- Faster 
- Flexible Topology  • Safety over EtherCAT (FSoE) defines a safety
- Easier to configure  communication layer for the transportation of safety
- Cost effective  process data between Safety over EtherCAT devices.
- Well proven
• FSoE is an open technology within the EtherCAT

- Open 
Technology Group (ETG).
- Conformance  • The protocol is developed according to IEC 61508
- Safety – It meets the Safety Integrity Level (SIL) 3
- Redundancy
– Residual Error Probability R(p) < 10-9
- Versatile
• The protocol is approved by an independent Notified
Body (TÜV)
• Certified products with Safety over EtherCAT are
available since 2005

Safety over EtherCAT: Features (3)
EtherCAT is:
- Faster 
- Flexible Topology  • The FSoE specification has no restrictions according to:
- Easier to configure  – Communication layer and interface
- Cost effective  The communication layer is not part of the safety measures:
- Easier to implement  black channel
- Well proven  (assumed unsolved bit error rate: p = 10-2)
- Open  – Transmission speed
- Conformance 
- Safety
– Length of safe process data
- Redundancy
(lenght of safe process data is arbitrary)
- Versatile • Routing via unsafe gateways, fieldbus systems or
backbones is possible

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

Safety over EtherCAT: Software Architecture
EtherCAT is: Device 1 Device 2

- Faster 
- Synchronization  Safety Safety
- Industrial Ethernet  Application Application
- Easier to configure Standard Standard
 Application Application
- Easier to implement  Safety over Safety over Safety
- Well proven EtherCAT EtherCAT over
 Protocol Protocol EtherCAT
- Open 
- Conformance  EtherCAT EtherCAT EtherCAT
- Safety Communication Interface Communication Interface DLL and AL
- Redundancy
- Versatile EtherCAT Telegram
Safety data container (FSoE Frame)
EtherCAT is used as a "black channel"

It contains safety and standard information

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

- Faster  According to model A of IEC 61784-3 Annex A
- Flexible Topology  Device
- Cost effective  Controller A Controller B
- Easier to implement  Safety Safety
Protocol Protocol
- Well proven  Controller A Controller B
- Open  Safety Safety
- Conformance
Protocol Protocol

Magnetics
Magnetics
- Safety
RJ45
RJ45
EtherCAT
PHY
PHY
- Redundancy Slave Controller
- Versatile In Out
Port Port

Safety over EtherCAT: Frame Structure
Device 1
EtherCAT is:
FSoE Frame
- Faster  Safety
Application
- Synchronization  The FSoE Frame is
Standard embedded as a
 Application
Container in the
- Flexible Topology  process data of the
- Easier to configure  FSoE device.
Protocol
- Cost effective  Each device detects
- Easier to implement  EtherCAT a new FSoE Frame,
Communication interface if at least one Bit in
- Well proven  the FSoE Frame is
- Open  EtherCAT Frame changed.
- Conformance  Ethernet EtherCAT 1. Data- 2. Data- Every 2 Byte SafeData
FSoE
HDR
- Safety Process Data FSC are checked by a 2
Header Header gram gram
- Redundancy Byte CRC
- Versatile FSoE Frame The maximum number
of SafeData is
therefore not
restricted by the
protocol.
Safe Safe Safe
CMD CRC_0 CRC_1 CRC_n Conn ID
Data 0 Data 1 Data n

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

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

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

Safety over EtherCAT – Open Solution
EtherCAT is: Companies with Safety over EtherCAT interface*

- Faster 
- Synchronization  • FSoE Master
- Industrial Ethernet  – Baumüller, Beckhoff, Kuka, NUM, Sick, OMRON
- Cost effective
• FSoE Drives

- Easier to implement  – AMK, Baumüller, Beckhoff, Kollmorgen, Kuka, Lenze, NUM, LTi,
- Well proven
Stöber,

- Open 
- Conformance  • Sensors, Safety I/Os
- Safety – Beckhoff, Baumüller, BBH, NUM, OMRON, Sick, TR electronic
- Redundancy
- Versatile • Stack Provider
– 3S (CodeSys), Ixxat
• Several additional machine manufacturer using Safety over

EtherCAT internally in their devices:
Printing machines, Tooling machines, NC Controller
*available products or product announcements
Safety over EtherCAT: Implementation Example
EtherCAT is: • Decentralized Safety-Logic

- Faster  • Standard PLC routes the safety messages
- Flexible Topology Standard Safety Inputs Safety Sensors

PLC
- Well proven 
- Open  Safety Outputs
- Conformance 
- Safety
- Redundancy
- Versatile
Safety Drives Safety Logic

Without Redundancy: Normal Operation
EtherCAT is:
- Faster  EtherCAT Master
- Industrial Ethernet  RX Unit TX Unit
- Flexible Topology  RX TX
- Cost effective  MAC 1
RX TX
- Well proven 
- Open 
- Conformance 
- Safety 
- 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:
RX TX
- Well proven 
- Open 
- Conformance 
- Safety 
- 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 or Cable Failure
EtherCAT is:
RX TX
- Well proven 
- Open 
- Conformance 
- Safety 
- 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:
- Faster Only 2nd
 EtherCAT Master
Ethernet
Port required –
 RX Unit TX Unit
no special
- Flexible Topology  RX TX Interface Card
- Cost effective  MAC 1 MAC 2
RX TX RX TX
- Well proven 
- Open 
- Conformance 
- Safety 
- 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:
RX TX RX TX
- Well proven 
- Open 
- Conformance 
- Safety 
- 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
Switchover time: < 15µs

With Redundancy: Node or Cable Failure
EtherCAT is:
RX TX RX TX
- Well proven 
- Open 
- Conformance 
- Safety 
- 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: High availability
EtherCAT is: • Cabling redundancy

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

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

- Faster  • Slave to Slave
- Synchronization  • Master to Master
- Flexible Topology M2S

- Cost effective Switchports

- Well proven  Master
- Open 
M2M
- Conformance 
- Safety 
Gateways
- Redundancy

- Versatile M2S
Master
S2S

EtherCAT Automation Protocol
EtherCAT is:
- Faster 
- Well proven 
- Open 
- Conformance 
- Safety 
- Redundancy

- Versatile

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

- Faster  • Wireless segment does not slow down EtherCAT
- Synchronization  communication
- Industrial Ethernet  • Protocol: EtherCAT Automation Protocol (EAP)
- Flexible Topology  – Pushed and/or Polled Process Data Exchange
- Cost effective
• Wireless Segment transparent for Master Device

Master Switchport
- Well proven 
- Open 
- Conformance 
- Safety 
- Redundancy

- Versatile
e.g. RFID Reader

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

- Faster  • Wireless segment does not slow down EtherCAT
- Synchronization  communication
- Industrial Ethernet  • Protocol: EtherCAT Automation Protocol (EAP)
- Flexible Topology  – Pushed and/or Polled Process Data Exchange
- Cost effective
• Wireless Segment transparent for Master Device

Master Switchport
- Well proven 
- Open 
- Conformance 
- Safety 
- Redundancy

- Versatile
e.g. Card or RFID Reader

Master sees
process data of
underlying system
Master with or
as local I/O data without control
application

EtherCAT is:
- Faster 
- Cost effective


Why go for something slower,
- Well proven 
just because it is more
- Open
- Conformance


expensive?
- Safety 
- Redundancy

- Versatile 

EtherCAT is: Please visit

- Faster  www.ethercat.org
- Synchronization  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

02 EtherCAT Introduction PDF

Încărcat de

Informații document

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

02 EtherCAT Introduction PDF

Încărcat de

Drepturi de autor:

Formate disponibile

The Ethernet Fieldbus.

Ethernet for Real-Time Communication

Main Performance Problems:

Oct 2014 © EtherCAT Technology Group EtherCAT Introduction and Overview

Minimum Ethernet Frame: 84 Bytes

4,75% Application Data Ratio

14 Bytes Process Data, e.g. 1..4 Bytes 4 B. 14 Bytes

Process FCS Interpacket

≥ 84 Bytes, e.g. with

UDP Ethernet/IP FCS

Oct 2014 © EtherCAT Technology Group EtherCAT Introduction and Overview

Oct 2014 © EtherCAT Technology Group EtherCAT Introduction and Overview

• Stack performances of the Ethernet technologies differ substantially,

Stack Time Profinet IO Ethernet/IP EtherCAT

• All three protocols were implemented on the same hardware

• Softing stack performance data shown in a diagram,

0 0,5 1 1,5 2 2,5 3

* SSC Stack Delay time measured on EL9800 EtherCAT Evaluation Kit

Switch Buffer Delay:

Buffer delay depends on

Oct 2014 © EtherCAT Technology Group EtherCAT Introduction and Overview

Almost all Switches use „Store

Substantial accumulated delay and jitter even

Oct 2014 © EtherCAT Technology Group EtherCAT Introduction and Overview

Quote: „RT in Profinet provides similar Quote: „When tested up to 80 percent

Source: Rockwell Automation, White Paper:

Oct 2014 © EtherCAT Technology Group EtherCAT Introduction and Overview

Oct 2014 © EtherCAT Technology Group EtherCAT Introduction and Overview

Oct 2014 EtherCAT Introduction and Overview

• Efficient: Typically only one Ethernet Frame per Cycle

Oct 2014 © EtherCAT Technology Group EtherCAT Introduction and Overview

Oct 2014 EtherCAT Introduction and Overview

Oct 2014 EtherCAT Introduction and Overview

Main Performance Problems:

Oct 2014 © EtherCAT Technology Group EtherCAT Introduction and Overview

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

Oct 2014 EtherCAT Introduction and Overview

EtherCAT is: • Other technologies need local I/O cycles + gateways

Master for Local

Oct 2014 EtherCAT Introduction and Overview

EtherCAT is: • EtherCAT: Real time down to the I/O

Oct 2014 EtherCAT Introduction and Overview

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

Oct 2014 EtherCAT Introduction and Overview

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

Input Input Output

Tmpd: Master Processing Delay

Oct 2014 EtherCAT Introduction and Overview

EtherCAT is: System Architecture with EtherCAT:

Oct 2014 EtherCAT Introduction and Overview

EtherCAT is: System Architecture with EtherCAT:

Oct 2014 EtherCAT Introduction and Overview

EtherCAT is: Reaction Time with EtherCAT:

Oct 2014 EtherCAT Introduction and Overview

EtherCAT is: • Traditional fieldbus system generate physical process image

- Open PLC Data

Oct 2014 EtherCAT Introduction and Overview

Oct 2014 EtherCAT Introduction and Overview

EtherCAT is: Master

- Open PLC Data

• Control System is unburdened, master becomes very

Gradiant = velocity equidistant

100 µs Cycle Time