The Ethernet Fieldbus.

Why Ethernet for Automation?

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

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

EtherCAT Technology Group, 2009 3

 EtherCAT - The Ethernet Fieldbus.

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

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

EtherCAT Technology Group, 2009 4

 EtherCAT is faster

EtherCAT is: Transmission Rate:

- Faster 2 x 100 Mbit/s (Fast Ethernet, Full-Duplex)
- Synchronization
- Industrial Ethernet
- Flexible Update Times:
- Easier to configure 256 digital I/O in 11 s
- Cost effective
1000 digital I/O distributed to 100 nodes in 30 s = 0.03 ms
- Easier to implement
200 analog I/O (16 bit) in 50 s, 20 kHz Sampling Rate
- Well proven
- Open 100 Servo-Axis (each 8 Byte In + Out) in 100 s = 0.1 ms
- Conformance 12000 digital I/O in 350 s
- Safety
- Redundancy
- Versatile

EtherCAT Technology Group, 2009 5

 EtherCAT is faster

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

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

- Well proven Node

Request with output data
- Open Master I/O reaction
Response with input data time
- Conformance
- Safety Ethernet Header Data: 46 Bytes CRC IPG

- Redundancy
- Versatile

with 4 Byte input + 4 Byte output per node:

4,75% application data ratio at 0 s reaction time/node
1,9% application data ratio at 10 s reaction time/node

EtherCAT Technology Group, 2009 6

 EtherCAT is faster

EtherCAT is: Bandwidth Usage Comparison:

- Faster At 4 Byte user data per node:
- Synchronization
Polling / Timeslicing: ~ 2..5 %
- Industrial Ethernet
From 2 Bit user data per node:
- Flexible
EtherCAT: ~ 80..97 % (Full Duplex, 2 x 100 MBit/s)
- Easier to configure
- Cost effective
- Easier to implement 100

- Well proven 90

- Open 80

70
- Conformance
60
- Safety
50
- Redundancy
40
- Versatile 30

20

10

0
Polling / EtherCAT
Timeslicing

EtherCAT Technology Group, 2009 7

 Functional Principle: Ethernet on the fly

EtherCAT is:
- Faster
- Synchronization
- Industrial Ethernet
- Flexible
Car
- Easier to configure 27

- Cost effective
- Easier to implement
- Well proven
- Open
- Conformance
Analogy Fast Train:
- Safety
- Redundancy Train (Ethernet Frame) does not stop
- Versatile Even when watching Train through narrow window one
sees the entire Train
Car (Sub-Telegram) has variable length
One can extract or insert single persons (Bits) or entire
groups (Bytes) even multiple groups per train

EtherCAT Technology Group, 2009 8

 Functional Principle: Ethernet on the fly

EtherCAT is:
- Faster Slave Device Slave Device
- Synchronization
- Industrial Ethernet
EtherCAT Slave EtherCAT Slave
- Flexible Controller Controller
- Easier to configure
- Cost effective
- Easier to implement
- Well proven
- Open
Process data is extracted and inserted on the fly:
- Conformance Process data size per slave almost unlimited
- Safety (1 Bit60 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 Technology Group, 2009 9

 Functional Principle: Ethernet on the fly

EtherCAT is:
- Faster Master

- Synchronization
- Industrial Ethernet
- Flexible
- Easier to configure
- Cost effective
- Easier to implement

HDR 1

HDR 2

HDR 2
Ethernet Header ECAT HDR PLC Data NC Data Data n Ethernet
- Well proven
- Open
- Conformance Minimal protocol overhead via implicit addressing
- Safety
Optimized telegram structure for decentralized I/O
- Redundancy
- Versatile
Communication completely in hardware: maximum
(+ predictable!) performance
No switches needed if only EtherCAT devices in the network
Outstanding diagnostic features
Ethernet-compatibility maintained

EtherCAT Technology Group, 2009 10

 Performance: Application Example

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

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

2347 s
Pow erlink

6355 s
Profinet I/O

0 1000 2000 3000 4000 5000 6000 7000

EtherCAT Technology Group, 2009 11

 Slow Control Systems benefit, too

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

- Faster
- Synchronization
- Industrial Ethernet
I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task
- Flexible
- Easier to configure
- Cost effective Tmpd

- Easier to implement
- Well proven
Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle
- Open
- Conformance
- Safety
TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O
- Redundancy
best case reaction time
- Versatile
worst case reaction time

Input Input Output

(worst case) (best case)

Tmpd: Master Processing Delay

TI/O: Local I/O Update Time
(local Extension Bus + Firmware)

EtherCAT Technology Group, 2009 12

 Slow Control Systems benefit, too

EtherCAT is: System Architecture with EtherCAT:

- Faster
- Synchronization
- Industrial Ethernet
I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task
- Flexible
- Easier to configure no dedicated Master Device any more
- Cost effective Tmpd

- Easier to implement
- Well proven
Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle
- Open
- Conformance
- Safety
TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O TI/O
- Redundancy
on underlying extension bus any more
- Versatile

EtherCAT Technology Group, 2009 13

 Slow Control Systems benefit, too

EtherCAT is: System Architecture with EtherCAT:

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

EtherCAT Technology Group, 2009 14

 Slow Control Systems benefit, too

EtherCAT is: Reaction Time with EtherCAT:

- Faster
- Synchronization
- Industrial Ethernet
I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task
- Flexible
- Easier to configure
- 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
EtherCAT Technology Group, 2009 15
 Fieldbus: requires Mapping in Control System

EtherCAT is: Traditional fieldbus system generate physical process

- Faster image
- Synchronization
This has to be mapped to logical process image(s)
- Industrial Ethernet
- Flexible
- Easier to configure
- Cost effective
- Easier to implement Control System, e.g. IPC
- Well proven
DPRAM
- Open Node 1
Fieldbus Scanner/Master
- Conformance Node 1
Data n
- Safety
Node 2
logical process images

Node 2
- Redundancy PLC Data

- Versatile
NC Data Node 3
Node 3
Node 4

Node 4
Mapping

EtherCAT Technology Group, 2009 16

 Fieldbus: requires Mapping in Control System

EtherCAT is: The same applies to control system with just one process
- Faster image
- Synchronization
Resorting of process data (Mapping) is required, too
- Industrial Ethernet
- Flexible
- Easier to configure
- Cost effective
- Easier to implement Control System, e.g. IPC
- Well proven
DPRAM
- Open Node 1
Fieldbus Scanner/Master
- Conformance Node 1

- Safety
Node 2
Logical process image

Node 2
- Redundancy Process-
Data
- Versatile
Node 3
Node 3
Node 4

Node 4
Mapping

EtherCAT Technology Group, 2009 17

 EtherCAT: Mapping moved into Slave Devices

EtherCAT is: Master

- Faster
- Synchronization
- Industrial Ethernet
- Flexible
- Easier to configure logical process images up to 4 GByte

- Cost effective

HDR 1

HDR 2

HDR 2
Ethernet Header ECAT HDR PLC Data NC Data Data n Ethernet
- Easier to implement
- 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
EtherCAT Technology Group, 2009 18
 Direct Memory Access saves time

EtherCAT is: Fieldbus cards: PC Control with Fieldbus cards

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

- Versatile directly to PC RAM: PCI

CPU relieved more MAC
bus
DMA

performance

EtherCAT Technology Group, 2009 19

 EtherCAT Propagation Delay Measurement (1)

EtherCAT is: EtherCAT Node measures time difference between

- Faster 3 leaving and returning frame
- Synchronization
- Industrial Ethernet
- Flexible
- Easier to configure
- Cost effective
- Easier to implement
EtherCAT Frame
- Well proven Processing Direction
- Open EtherCAT Frame
Forwarding Direction
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT Technology Group, 2009 20

 EtherCAT Propagation Delay Measurement (2)

EtherCAT is: EtherCAT Node measures time difference between

- Faster 3 leaving and returning frame
- Synchronization
- Industrial Ethernet
- Flexible
- Easier to configure
IPC
Master
- Cost effective
- Easier to implement
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT Technology Group, 2009 21

 Distributed Clocks

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

- Faster 3 of Distributed Clocks
- Synchronization
- Industrial Ethernet
- Flexible
- Easier to configure
M
S
IPC
Master t
- Cost effective
- Easier to implement
- Well proven S
S
- Open
- Conformance
- Safety S S S S
- Redundancy
- Versatile

EtherCAT Technology Group, 2009 22

 External Clock Synchronization: IEEE 1588

EtherCAT is: Switchport with integrated IEEE 1588 Boundary Clock

- Faster 3
- Synchronization IEEE 1588
Grandmaster
- Industrial Ethernet
- Flexible
- Easier to configure
M Boundary
S Clock
- Cost effective Master

- Easier to implement
- Well proven S
S
- Open
- Conformance
- Safety S S S S
- Redundancy
- Versatile

EtherCAT Technology Group, 2009 23

 Distributed Clocks

EtherCAT is: Long Term Scope View of two separated devices

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

EtherCAT Technology Group, 2009 24

 EtherCAT is Industrial Ethernet!

EtherCAT is: EtherCAT uses Standard Ethernet Frames: IEEE 802.3

- Faster 3 Alternatively via UDP/IP (if IP Routing is needed)
- Synchronization 3
- Industrial Ethernet
no shortened frames
- Flexible
- Easier to configure Standard Ethernet Frame

- Cost effective
- Easier to implement 0..32
48 Bit 48 Bit 16 Bit 16 Bit 48 -1498 Byte Byte 32 Bit
- Well proven
DA SA EtherType Header DatagramEthernet
1 Datagram
Daten2 Datagram n Pad. CRC
- Open
- Conformance
Embedded in Standard Ethernet EtherCAT Telegram
- Safety Frame, EtherType 0x88A4

- Redundancy
160 Bit 64 Bit 16 Bit 48 -1470 Byte
- Versatile Ethernet Header IP Header UDP H. Header EtherCAT Data Pad. CRC

Or: via UDP/IP

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

EtherCAT Technology Group, 2009 25

 EtherCAT is Industrial Ethernet!

EtherCAT is: fully transparent for TCP/IP

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

Ethernet PHY Ethernet PHY

EtherCAT Technology Group, 2009 26

 EtherCAT is Industrial Ethernet!

EtherCAT is: Any Ethernet Device can be connected to Switchport

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

EtherCAT Technology Group, 2009 27

 EtherCAT is Industrial Ethernet!

EtherCAT is: Virtual Ethernet Switch routes any Ethernet Frame

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

Ethernet
Switch

EtherCAT Technology Group, 2009 28

 Switchport: Any Ethernet Protocol

EtherCAT is: Interface to any Ethernet Device or Network

- Faster 3 Ethernet Frames are inserted into EtherCAT Protocol:
- Synchronization 3
- Industrial Ethernet
Ethernet over EtherCAT
- Flexible
- Easier to configure
EtherCAT Switchport
- Cost effective
- Easier to implement Ethernet MAC PHY

- Well proven
- Open
RX1 RX2TX
RX RX3 RX4
- Conformance C

- Safety Fragmentation

- Redundancy
Mailbox Process Data
- Versatile
PHY EtherCAT MAC / DLL PHY

TX2
TX3
TX1 TX1
TX3
TX2

EtherCAT Technology Group, 2009 29

 Vertical Integration (1)

EtherCAT is: via Switchport

- Faster 3
- Synchronization 3
- Industrial Ethernet Master

- Flexible
- Easier to configure
- Cost effective
- Easier to implement
- Well proven Switchport

- Open
- Conformance
- Safety
+ any Ethernet Protocol can be used
- Redundancy + requires only one Ethernet Port (at IPC/Controller)
- Versatile
+ EtherCAT performance is not limited

EtherCAT Technology Group, 2009 30

 Vertical Integration (2)

EtherCAT is: ...via 2. Ethernet Port

- Faster 3
- Synchronization 3
- Industrial Ethernet Master

- Flexible
- Easier to configure
- Cost effective
- Easier to implement
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 Technology Group, 2009 31

 Vertical Integration (3)

EtherCAT is: via Switch

- Faster 3
- Synchronization 3
- Industrial Ethernet Master

- Flexible
- Easier to configure
- Cost effective
- Easier to implement
Ethernet
- Well proven Switch
- Open
- Conformance
- Safety
+ any Ethernet Protocol can be used
- Redundancy + requires only one Ethernet Port (at IPC/Controller)
- Versatile
but: performance reduced by switch delay (and generic
Ethernet traffic)

EtherCAT Technology Group, 2009 32

 EtherCAT wiring is more flexible

EtherCAT is: Standard Ethernet Topology: Star

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

EtherCAT Technology Group, 2009 33

 EtherCAT wiring is more flexible

EtherCAT is: Flexible tree structures arbitrarily extendable

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

Drop Line
Star/Tree

EtherCAT Technology Group, 2009 34

 EtherCAT wiring is more flexible

EtherCAT is: Ethernet Signal Variants of EtherCAT:

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

Any number of physical layer changes allowed

*LVDS: Low Voltage Differential Signaling according to ANSI/TIA/EIA-644,
also used in IEEE 802.3ae (10Gigabit Ethernet)
EtherCAT Technology Group, 2009 35
 EtherCAT Extra Large System Test

EtherCAT is:
- Faster 3
- Synchronization 3
- Industrial Ethernet 3
- Flexible
- Easier to configure
- Cost effective
- Easier to implement
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

10.056
EtherCAT Nodes

EtherCAT Technology Group, 2009 36

 EtherCAT instead of PCI

EtherCAT is: Protection of your investment

- Faster 3 smooth migration path from legacy fieldbus to EtherCAT
- Synchronization 3 seamless integration of existing fieldbus devices, e.g.:
- Industrial Ethernet 3 AS-Interface
- Flexible CAN, CANopen
- Easier to configure CC-Link
- Cost effective ControlNet
- Easier to implement DeviceNet
- Well proven Ethernet/IP
- Open FIPIO
- Conformance Interbus
- Safety IO-Link
- Redundancy Lightbus
- Versatile LONWorks
Modbus Plus, RTU, TCP
MPI
PROFIBUS
PROFINET IO

maximum system expandability with low cost fieldbus gateways
EtherCAT Technology Group, 2009 37
 EtherCAT instead of PCI

EtherCAT is: Update Times (examples):

- Faster 3 Process image update-time
- Synchronization 3 via PCI (500 Bytes input and output data each): 400 s
- Industrial Ethernet 3
Process image update-time
- Flexible
via EtherCAT (1.500 Bytes input and output data): 150 s
- Easier to configure
- Cost effective
- Easier to implement
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT Technology Group, 2009 38

 EtherCAT instead of PCI

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

- Faster 3 more
- Synchronization 3 Nevertheless maximum expandability
- Industrial Ethernet 3
- Flexible
- Easier to configure
- Cost effective
- Easier to implement
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT

EtherCAT Technology Group, 2009 39

 EtherCAT is easier to configure

EtherCAT is: Addressing

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

EtherCAT Technology Group, 2009 40

 EtherCAT is easier to configure

EtherCAT is: Topology:

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

EtherCAT Technology Group, 2009 41

 EtherCAT is lower costs (1): Engineering

EtherCAT is: Implementation / Tools:

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

Faster Setup:
No address setting required

EtherCAT Technology Group, 2009 42

 EtherCAT is lower costs (2): Hardware

EtherCAT is: Master:

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

- Conformance no powerful C needed

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

EtherCAT Technology Group, 2009 43

 EtherCAT is easier to implement: Slave

EtherCAT is: Slave Implementation:

- Faster 3 All time critical functions implemented on ASIC or FPGA
- Synchronization 3 ESC handles Real-time Protocol in Hardware
- Industrial Ethernet 3
Integrated Communication State Machine
- Flexible 3
- Easier to configure Network Performance independent of
3
- Cost effective 3 Slave-C Performance
- Easier to implement Protocol Stack
- Well proven For usage with or without C (Host CPU)
- Open Integrated DPRAM (18kByte)
- Conformance Integrated Distributed Clock Handling
- Safety
Ultra precise interrupts to C
- Redundancy
- Versatile

EtherCAT Technology Group, 2009 44

 EtherCAT Slave Controller Features: ASIC (1)

EtherCAT is: Name ET1100 ET1200 netX5

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

EtherCAT Technology Group, 2009 45

 EtherCAT Slave Controller Features: ASIC (2)

EtherCAT is:
Name netX 100 netX 500 netX50
- Faster 3 Type ASIC ASIC ASIC
- Synchronization 3
- Industrial Ethernet 3 Hardware Supplier
- Flexible 3
- Easier to configure BGA345 BGA345 PBGA
3 Package
1mm Pitch 1mm Pitch 1mm Pitch
- Cost effective 3
Size 22x22 mm 22x22 mm 19x19 mm
- Easier to implement
C-Bus C-Bus C-Bus
- Well proven C Interface
(internal, 32-bit) (internal, 32-bit) (internal, 32-bit)
- Open
Digital I/O 16 (GPIO) 16 (GPIO) 32 (GPIO)
- Conformance
256/400 Byte 256/400 Byte
- Safety DPRAM (Mailbox/Process (Mailbox/Process 6 kByte
Data) Data)
- Redundancy
SyncManager 4 4 8
- Versatile
FMMUs 3 3 8
Distributed Clocks Yes Yes Yes
No. Of Ports 2 (100BASE-TX) 2 (100BASE-TX) 2 (100BASE-TX)
Multi Protocol Multi Protocol Multi Protocol
Specials Support, Integrated: Support, Integrated: Support, Integrated:
PHYs, ARM-9 C PHYs, ARM-9 C PHYs, ARM-9 C

EtherCAT Technology Group, 2009 46

 EtherCAT Slave Controller Features: FPGA

EtherCAT is:
Name ET1810/ET1811/ET1812 ET1815/ET1816/ET1817
- Faster 3 Type FPGA + IP Core FPGA + IP Core
- Synchronization 3
- Industrial Ethernet 3 Hardware Supplier
- Flexible 3 Cyclone I+II+III, Spartan
- Easier to configure 3 Supported Chips Stratix I+II+III+IV+GX+II GX, 3+3E+3A+3AN+3ADSP,
- Cost effective 3 Arria GX Virtex II+II Pro+II Pro X+4+5
- Easier to implement Package FPGA dependent FPGA dependent
- Well proven Size FPGA dependent FPGA dependent
- Open serial/parallel serial/parallel
- Conformance C Interface (8/16-bit, async) (8/16bit, async)
AVALON* OPB*
- Safety
Digital I/O 8-32* 8-32*
- Redundancy
DPRAM 1...60 kByte* 1...60 kByte*
- Versatile
SyncManager 08* 08*
FMMUs 08* 08*
Distributed Clocks Yes* Yes*
No. Of Ports 2 (MII) 2 (MII)

Several IP Core License Several IP Core License

Specials
models available models available
* configurable
EtherCAT Technology Group, 2009 47
 EtherCAT is easier to implement: Master

EtherCAT is: Master Implementation:

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

EtherCAT Technology Group, 2009 48

 EtherCAT is easier to implement: Master

EtherCAT is: Example: Master with just one process image

- Faster 3 typical e.g. for small controllers with one control task
- Synchronization 3 up to 1488 Byte Process data size
- Industrial Ethernet 3 Header for Process Data communication remains constant
- Flexible 3
- Easier to configure 3 Ethernet Header ECAT EtherCAT Telegram Ethernet
- Cost effective 3

WKC
Frame EtherCAT
DA SA Type Data Pad. FCS
HDR HDR
- Easier to implement 3 6 Bit 6 Bit 2 Bit 2 Bit 10 Bit 0.1486 Byte 2 032 4 Byte

- Well proven
- Open
constant header completely sorted Working Padding Bytes and
- Conformance (mapped) process data Counter: CRC generated by
constant Ethernet Controller
- Safety (MAC)

- Redundancy Master can be implemented with minimal effort

- Versatile
No separate communication processor required (e.g. on
plug-in card)
Much simpler that legacy fieldbus systems
Very much simpler than competing Industrial Ethernet
approaches

EtherCAT Technology Group, 2009 49

 EtherCAT is well proven

EtherCAT is: In series production since 2003

- Faster 3 Numerous applications
- Synchronization 3
- Industrial Ethernet 3
Great product variety of
- Flexible 3
available EtherCAT products
- Easier to configure 3
- Cost effective 3
- Easier to implement 3
- Well proven
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT Technology Group, 2009 50

 EtherCAT Architecture + Device Profiles

EtherCAT is:
- Faster EtherCAT Device
3
- Synchronization 3 File System, HTTP, FTP, DEVICE Application
- Industrial Ethernet 3 Bootloader
The SERCOS* The CANopen Process Data
- Flexible 3 Standard Standard
- Easier to configure 3
- Cost effective 3
TCP UDP IDN Object Dictionary
- Easier to implement 3
- Well proven IP Service Channel SDO
3 PDO
AT
File Access EN 50325-4 Map-
- Open ping
MDT
IEC 61800-7-204 IEC 61800-7-201
Ethernet IEC 61800-7-304
- Conformance IEC 61800-7-301

- Safety FoE EoE SoE CoE CoE/SoE

- Redundancy Mailbox Process Data

- Versatile EtherCAT Slave Controller

Ethernet Physical Layer

*SERCOS interface is a trademark by SI e.V.

EtherCAT Technology Group, 2009 51
 Typical EtherCAT Device Architecture

EtherCAT is:
- Faster 3 EtherCAT Device
- Synchronization 3
- Industrial Ethernet HTTP, FTP, DEVICE Application
3 optional
- Flexible 3 Device Profile
Device Profile
Definitions
Definitions
- Easier to configure 3
- Cost effective 3
TCP UDP Parameters
- Easier to implement 3 Cyclic
Synchronous
- Well proven 3 IP Asynchronous Communication
Communication (Implicit
- Open (Explicit Addressing)
- Conformance Ethernet Addressing)

- Safety
EoE CoE/SoE CoE/SoE
- Redundancy
Mailbox Process Data
- Versatile
EtherCAT Slave Controller

Ethernet Physical Layer

EtherCAT Technology Group, 2009 52

 IEC 61491 EtherCAT Servodrive Architecture

EtherCAT is:
- Faster 3 EtherCAT Device
- Synchronization 3
- Industrial Ethernet HTTP, FTP, Servodrive Application
3 optional IEC 61800-7-
- Flexible 3 204
is the
- Easier to configure 3 SERCOS*
- Cost effective 3 Drive Profile
TCP UDP IDN
- Easier to implement 3 Process Data:
AT / MDT
- Well proven 3 IP Service Channel

- Open
Servodrive Profile IEC 61800-7-204
- Conformance Ethernet Mapping to EtherCAT: IEC 61800-7-304

- Safety
EoE SoE SoE
- Redundancy
Mailbox Process Data
- Versatile
EtherCAT Slave Controller

Ethernet Physical Layer

*SERCOS interface is a trademark by SI e.V.

EtherCAT Technology Group, 2009 53

 EtherCAT in IEC 61800-7

EtherCAT is:
IEC 61800-7: Generic Interface and use of profiles for power drive systems
- Faster 3
- Synchronization 3 IEC 61800-7-1: Interface Definition
- Industrial Ethernet 3
Annex A: Annex B: Annex C: Annex D:
- Flexible 3 Mapping to Mapping to Mapping to Mapping to
- Easier to configure DS402 CIP PROFIdrive SERCOS*
3
- Cost effective 3
- Easier to implement 3 IEC 61800-7-200: Profile Specifications

- Well proven 3
- Open IEC 61800-7-201: IEC 61800-7-202: IEC 61800-7-203: IEC 61800-7-204:
Profile Profile Profile Profile
- Conformance CiA 402 CIP Motion PROFIdrive SERCOS*
- Safety
- Redundancy IEC 61800-7-300: Mapping of Profiles to Network Technologies
- Versatile
IEC 61800-7-301 IEC 61800-7-304
B C
Mapping to Mapping to Mapping to ... ... Mapping to Mapping to Mapping to
CANopen EPL EtherCAT SERCOS I/II SERCOS III EtherCAT

*SERCOS interface is a trademark by SI e.V.

EtherCAT Technology Group, 2009 54
 EtherCAT is an open technology

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

*as of Feb 2009

EtherCAT Technology Group, 2009 55
 EtherCAT is an open technology

EtherCAT is: Protocol is disclosed completely:

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

EtherCAT Technology Group, 2009 56

 EtherCAT is an open technology

EtherCAT is: Master Stacks for various RTOS available*,

- Faster including Open / Shared Source!
3
- Synchronization
eCos
3
Intime
- Industrial Ethernet 3
Linux with RT-Preempt
- Flexible 3 MICROWARE OS-9
- Easier to configure 3 On Time RTOS-32
- Cost effective 3 PikeOS
- Easier to implement 3 Proconos OS
- Well proven 3 Real-Time Java
- Open RMOS
- Conformance
RT Kernel
RT-Linux
- Safety
RTXC Quadros
- Redundancy
RTAI Linux
- Versatile QNX
VxWin + CeWin
VxWorks
Windows CE
Windows XP/XPE with CoDeSys SP RTE
Windows XP/XPE with TwinCAT RT-Extension
XENOMAI Linux
*as of May 2009
EtherCAT Technology Group, 2009 57
 EtherCAT Technology Group and IEC

EtherCAT is: Management Board of IEC has approved Liaison of

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

EtherCAT Technology Group, 2009 58

 ETG Team Worldwide

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

EtherCAT Technology Group, 2009 59

 ETG Membership Development

EtherCAT is: As of April 2009: 1000 Members

- Faster 3
- Synchronization 3 1000 1000
- Industrial Ethernet 3 940
- Flexible 3 881 900
820
- Easier to configure 3 800
766
- Cost effective 3 696 700
- Easier to implement 3 634
575 600
- Well proven 3 515
- Open 458 500
404
- Conformance 357 400
321
- Safety 285
240 300
214
- Redundancy 188
169
117136 200
- Versatile 59 89
33
100
Nov-03

May-04

Nov-04

May-05

Nov-05

May-06

Nov-06

May-07
0

Nov-07

May-08

Nov-08

May-09
EtherCAT Technology Group, 2009 60
 Members from 45* Countries, 6 Continents

EtherCAT is:
- Faster 3
Australia Austria Belarus Belgium Bosnia and Brazil Canada China
- Synchronization 3 Herzegovina

- Industrial Ethernet 3
- Flexible 3
- Easier to configure 3 Croatia Czech Rep Denmark Finland France Germany Greece

- Cost effective 3
- Easier to implement 3
- Well proven 3 Hungary India Israel Italy Japan Korea Liechtenstein Lithuania

- Open
- Conformance
- Safety Mexico Netherlands New Zealand Norway Poland Portugal Romania Russia

- Redundancy
- Versatile

Serbia Singapore Slovakia Slovenia South Africa Spain Sweden

Switzerland Taiwan Thailand Turkey Ukraine United Kingdom USA

*as of April 2009

EtherCAT Technology Group, 2009 61
 ETG: Active Members

EtherCAT is: Much more important than membership figures: How

- Faster 3 many are active, how many implement the technology?
- Synchronization 3 Dec 2008: More than 690 Implementation Kits sold to
- Industrial Ethernet 3 ETG Members (25% Master, 75% Slaves), plus there are
- Flexible 3 Open + Shared Source masters!
- Easier to configure 3 SPS/IPC/Drives 2008: 60 Vendors with over 180 different
- Cost effective 3 EtherCAT Devices at ETG booth:
- Easier to implement 3
25 different drives from
- Well proven 3 16 manufacturers jointly
- Open
operating in one network
- Conformance
15 different functional
- Safety
Masters in one setup,
- Redundancy using 10 different
- Versatile operating systems
Safety devices (master
+ slave devices) from 2
manufacturers operating
in one system
Master to Master and
redundancy live demo
EtherCAT Technology Group, 2009 62
 EtherCAT: Large Product Selection

EtherCAT is:
I/O, Controller, HMI, Servo Drives, Variable Speed Drives
- Faster 3
Sensors, Slave + Master Development Kits
- Synchronization 3 Control Panels, Hydraulic Valves
- Industrial Ethernet 3 and Pneumatic Valves,
- Flexible 3
- Easier to configure 3
- Cost effective 3
- Easier to implement 3
- Well proven 3
- Open
- Conformance
- Safety
- Redundancy
- Versatile

EtherCAT Technology Group, 2009 63

 Conformance and Interoperability

EtherCAT is:
- Faster 3
- Synchronization 3
- Industrial Ethernet 3
- Flexible 3 Conformance and interoperability are very important
- Easier to configure 3 factors for the success of a communication technology
- Cost effective 3 Conformity to the specification is an obligation to all users of
- Easier to implement 3
the EtherCAT technology
- Well proven 3
Therefore the EtherCAT Conformance Test Tool (CTT) is
- Open 3
used
- Conformance
- Safety Test Cases for the CTT are provided by the Working Group
- Redundancy Conformance within the ETG community
- Versatile The EtherCAT Conformance Test proves conformance
officially with issuing a certificate after passing the test at an
offical EtherCAT Test Center (ETC)

EtherCAT Technology Group, 2009 64

 Safety over EtherCAT: Features (1)

EtherCAT is:
- Faster 3
- Synchronization 3
- Industrial Ethernet 3
- Flexible 3 Safety over EtherCAT (FSoE) defines a safety
- Easier to configure 3 communication layer for the transportation of safety
- Cost effective 3 process data between Safety over EtherCAT devices.
- Easier to implement 3
- Well proven
FSoE is an open technology within the EtherCAT
3
- Open 3
Technology Group (ETG).
- Conformance 3 The protocol is developed according to IEC 61508
- Safety It meets the Safety Integrity Level (SIL) 3
- Redundancy
Residual Error Probability R(p) < 10-9
- Versatile
The protocol is approved by an independent Notified
Body (TV)

EtherCAT Technology Group, 2009 65

 Safety over EtherCAT: Features (2)

EtherCAT is:
- Faster 3
- Synchronization 3
- Industrial Ethernet 3
- Flexible 3 FSoE Frame is mapped in the cyclic PDOs
- Easier to configure 3 Minimum FSoE Frame-Length: 6 Byte
- Cost effective 3 Maximum FSoE Frame-Length: depending on the number of
- Easier to implement 3
safe process data of the Slave Device
- Well proven 3
- Open
Therefore the protocol is suitable for safe I/O as well as for
3
- Conformance
functional safe motion control
3
- Safety Confirmed transfer from the FSoE Master to the FSoE
- Redundancy Slave and vice versa.
- Versatile
Safe Device Parameter can be downloaded from the
Master to the Slave at Boot-Up of a FSoE Connection
Certified products with Safety over EtherCAT are
available since 2005.

EtherCAT Technology Group, 2009 66

 Safety over EtherCAT: Features (3)

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

EtherCAT Technology Group, 2009 67

 Safety over EtherCAT: Routing

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

EtherCAT Technology Group, 2009 68

 Safety over EtherCAT: Software Architecture

EtherCAT is: Black channel approach

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

EtherCAT Telegram

Safety data container (FSoE Frame)

EtherCAT Technology Group, 2009 69

 Safety over EtherCAT: Hardware Architecture

EtherCAT is: One channel communication system

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

RJ45 RJ45 RJ45 RJ45

EtherCAT Technology Group, 2009 70

 Safety over EtherCAT: Frame Structure

EtherCAT is: Ethernet telegram

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

EtherCAT Technology Group, 2009 71

 Safety over EtherCAT: Safety Measures

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

EtherCAT Technology Group, 2009 72

 Safety over EtherCAT: Implementation Example

EtherCAT is: Decentralized Safety-Logic

- Faster 3 Standard PLC routes the safety messages
- Synchronization 3
- Industrial Ethernet 3 Standard
PLC Safety Inputs
- Flexible 3
- Easier to configure 3
- Cost effective 3
- Easier to implement 3
- Well proven 3 Safety Outputs
- Open 3
- Conformance 3
- Safety
- Redundancy
- Versatile
S

S
Safety Drives Safety Logic
S

EtherCAT Technology Group, 2009 73

 Safety over EtherCAT: Advantages

EtherCAT is: Fully integrated solution:

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

EtherCAT Technology Group, 2009 74

 EtherCAT: High availability

EtherCAT is: Cabling redundancy

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

EtherCAT Technology Group, 2009 75

 Without Redundancy: Normal Operation

EtherCAT is:
- Faster 3 EtherCAT Master
- Synchronization 3
- Industrial Ethernet 3 RX Unit TX Unit
- Flexible 3 RX TX
- Easier to configure 3
- Cost effective 3 MAC 1
- Easier to implement 3
RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile
Slave 1 Slave 2 Slave N
RX TX RX TX RX TX
... ...
TX RX TX RX TX RX

EtherCAT Technology Group, 2009 76

 Without Redundancy: Cable Failure

EtherCAT is:
- Faster 3 EtherCAT Master
- Synchronization 3
- Industrial Ethernet 3 RX Unit TX Unit
- Flexible 3 RX TX
- Easier to configure 3
- Cost effective 3 MAC 1
- Easier to implement 3
RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile
Slave 1 Slave 2 Slave N-1 Slave N
RX TX RX TX RX TX RX TX
... ...
TX RX TX RX TX RX TX RX

EtherCAT Technology Group, 2009 77

 Without Redundancy: Node Failure

EtherCAT is:
- Faster 3 EtherCAT Master
- Synchronization 3
- Industrial Ethernet 3 RX Unit TX Unit
- Flexible 3 RX TX
- Easier to configure 3
- Cost effective 3 MAC 1
- Easier to implement 3
RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile
Slave 1 Slave 2 Slave N-2 Slave N-1 Slave N
RX TX RX TX RX TX RX TX RX TX
... ...
TX RX TX RX TX RX TX RX TX RX

EtherCAT Technology Group, 2009 78

 With Redundancy: Normal Operation

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

EtherCAT Technology Group, 2009 79

 With Redundancy: Cable Failure

EtherCAT is:
- Faster 3 EtherCAT Master
- Synchronization 3
- Industrial Ethernet 3 RX Unit TX Unit
- Flexible 3 RX TX
- Easier to configure 3
- Cost effective 3 MAC 1 MAC 2
- Easier to implement 3
RX TX RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile
Slave 1 Slave 2 Slave N-1 Slave N
RX TX RX TX RX TX RX TX
... ...
TX RX TX RX TX RX TX RX

EtherCAT Technology Group, 2009 80

 With Redundancy: Node Failure

EtherCAT is:
- Faster 3 EtherCAT Master
- Synchronization 3
- Industrial Ethernet 3 RX Unit TX Unit
- Flexible 3 RX TX
- Easier to configure 3
- Cost effective 3 MAC 1 MAC 2
- Easier to implement 3
RX TX RX TX
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
- Versatile
Slave 1 Slave 2 Slave N-2 Slave N-1 Slave N
RX TX RX TX RX TX RX TX RX TX
... ...
TX RX TX RX TX RX TX RX TX RX

EtherCAT Technology Group, 2009 81

 EtherCAT: various system architecture

EtherCAT is: Master to Slave

- Faster 3 Slave to Slave
- Synchronization 3 Master to Master
- Industrial Ethernet 3
- Flexible M2S
3
- Easier to configure 3
- Cost effective Switchport
3
- Easier to implement 3
- Well proven 3 Master
- Open 3
M2M
- Conformance 3
- Safety 3 Switch
Gateways
- Redundancy
3
- Versatile
M2S
Master
S2S

EtherCAT Technology Group, 2009 82

 EtherCAT and Wireless Communication

EtherCAT is: Wireless Devices can be connected via Switchport

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

e.g. RFID Reader

EtherCAT Technology Group, 2009 83

 Why do Companies choose EtherCAT?

EtherCAT is: High Performance

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

EtherCAT Technology Group, 2009 84

 EtherCAT Application Fields

EtherCAT is: Fast applications, e.g.:

- Faster 3 packaging machines
- Synchronization 3 high speed presses
- Industrial Ethernet 3
- Flexible
injection molding machines
3
- Easier to configure 3 woodworking machines
- Cost effective 3 machine tooling (CNC)
- Easier to implement 3 test beds
- Well proven 3 robotics
- Open 3
- Conformance

3
- Safety 3
- Redundancy
3 Widely distributed applications, e.g.:
- Versatile
materials handling
logistics
data acquisition

EtherCAT Technology Group, 2009 85

 EtherCAT Application Fields

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

EtherCAT Technology Group, 2009 86

 EtherCAT - The Ethernet Fieldbus.

EtherCAT is: Please visit

- Faster 3 www.ethercat.org
- Synchronization 3 for more information
- Industrial Ethernet 3
- Flexible 3
- Easier to configure 3
- Cost effective 3
- Easier to implement 3
- Well proven 3
- Open 3
- Conformance 3
- Safety 3
- Redundancy
3
- Versatile 3
EtherCAT Technology Group
ETG Headquarters
Ostendstr. 196
90482 Nuremberg, Germany
Phone: +49 911 54056 20
[email protected]
EtherCAT Technology Group, 2009 87