How to begin an EtherCAT development — some key points

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ETG Slide Master
2021
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EtherCAT
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2022/2023
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Europe
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| 2022 November
USA | 2022 December
China | 2023 January
Japan | 2023 February
South-Korea | 2023 March

EtherCAT Technology Group | [email protected]

Florian Essler | [email protected]
 ETG Antitrust and IPR Reminder and Recording

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2021
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 Antitrust Reminder

Purpose
Slides of Default
Presentation
of the ETG is to promote and advance the EtherCAT Technology.
ETGETG does not sell products or services.
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2021
 It is not the business of the ETG to consider or discuss matters relating to purchasing or
Slide Master Basics
pricing decisions of individual companies.
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Any Layout
Example: kind of joint activity or conduct which goes beyond the purpose of the Group might result in
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“1 Content” with practice and should be avoided.
Default Table
InMenu
Table case of any question regarding the legality of a proposed program, policy or any other course of
action, please contact the board of directors immediately who will discuss this with legal counsel.

2022/2023 EtherCAT International Technology Week - World Series 2022/2023 | A week of webinars 3
 Intellectual Property Rights Reminder

The
Slides development of the EtherCAT Technology might result in using information potentially protected
of Default
Presentation
Intellectual Property Rights (IPR).
ETG Slide Master
2021In this case Section 9.2 of the ETG By-Laws apply:
Slide Master Basics
 Each member has the responsibility to make known the existence of any IPR related to
Layouts
any information relevant to the EtherCAT Technology which the member intends to disclose
Example: Layout
inwith
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 In case such existence is not disclosed within 30 days after the event, the member has
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granted a license.
 These rules were introduced to avoid the existence of hidden IPR in the EtherCAT Technology.

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 No Recording Reminder

In
Slides order to encourage free discussion, it is agreed as a rule for ETG meetings that audio and visual
of Default
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recordings are prohibited, except for properly announced group photos.
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2021Please adhere to this.
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 How to begin an EtherCAT development — some key points

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2021
Slide Master Basics
Layouts
Example: Layout
“1 Content” with
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2022/2023 EtherCAT International Technology Week - World Series 2022/2023 | A week of webinars 7
 Agenda

EtherCAT
Slides of Default
Presentation
system overview and SubDevice architecture
ETG Slide Master
 SubDevice Implementation Process Overview
2021
Slide Master Basics

1. Administrative Steps
Layouts
Example: Layout
“1 Content” with
2. Training
Default Table
Table Menu
3. Device Definition

4. Hardware Design

5. Software Development

6. Conformance Testing

 Common Issues – and how to avoid them

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 Typical EtherCAT network

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 Functional Principle: Ethernet “on the fly”

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2021
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“1 Content” with
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• Data extracted and inserted on

the fly
• Cyclic and acyclic communication
 EtherCAT SubDevice Architecture Overview

Slides of Default
Presentation EtherCAT EtherCAT Network EtherCAT
MainDevice Information File (ENI) Configuration Tool
ETG Slide Master
2021
*.xml
Slide Master Basics
Layouts
Example: Layout
“1 Content” with
Default Table
Table Menu EtherCAT SubDevice
EtherCAT SubDevice EtherCAT SubDevice
Information File (ESI) Information File (ESI) Information File (ESI)

*.xml *.xml *.xml

EtherCAT SubDevice EtherCAT SubDevice EtherCAT SubDevice

EtherCAT SubDevice EtherCAT SubDevice EtherCAT SubDevice

Architecture Architecture Architecture

NW Interface NW Interface NW Interface

May 2014 11
 SubDevice block diagram

Slides of Default EtherCAT SubDevice

Presentation
ETG Slide Master Application stack
2021 µC
or dig. I/O Interface
Slide Master Basics
Communication stack
Layouts
Application Layer
Example: Layout Device Application
“1 Content” with Process Data Interface (PDI)
Default Table
Table Menu
I 2C
EtherCAT SubDevice EEPROM (“SII”)
EtherCAT LEDs
Controller (ESC) (ESC config. Data)
Data Link Layer
ESC

Physical Layer
Magnetic

Magnetic
RJ45

RJ45
PHY PHY

Network Interface

May 2014 12
Slides of Default
Presentation
ETG Slide Master
2021
Slide Master Basics
Layouts
Example: Layout
“1 Content” with
Default Table
Table Menu

www.ethercat.org/etg2200

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 SubDevice Implementation Process Overview

1
Six
Slides basic steps:
of Default
Presentation Device ETG Membership1)
Requirements
1. Organizational aspects
ETG Slide Master 2
2021 ETG Vendor ID1)

2. Training
Slide Master Basics 3
Layouts Development Toolkit CTT License1)
3. Device Definition
Example: Layout
A
“1 Content” with
4. Hardware Design
Default Table EtherCAT Training + Workshops2) B
Table Menu
5. Software Design C

ETG Support
EtherCAT Feature Configuration / Device Definition

6. Conformance Testing
D

Synchronization

Communication

Device Profiles
NW Interface

EEPROM

Protocols
µC & PDI
ESC
 Check ETG.2200 for an overview E

F
HW / SW Aspects
4
Lab Wiring with µC
5
Hardware
Development
Software
Development
6
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 Step 1: Organizational Aspects

1
When starting the development of an EtherCAT SubDevice, few simple administrative steps need to
Slides of Default
Presentation
be done:
ETG Slide Master 2
2021
3
SlideETG membership: provides access to the ETG member area and resources (Specification,
Master Basics
Layouts
Knowledge Base, Developer Forum, …): A
Example: Layout
“1 Content” with
Default Table
→ Become an ETG member: www.ethercat.org/en/membership_application.html B
Table Menu
C
 Company Vendor ID: enables to uniquely identify the EtherCAT devices of a specific ETG member
company: D

E
→ Request own Vendor ID: www.ethercat.org/memberarea/vendorid/
F
Both are free-of-charge and can be completed in few days. 4

6
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 Step 2: Training

1
An introductory training can help mastering the EtherCAT technology and proceeding faster with the
Slides of Default
Presentation
device development.
ETG Slide Master 2
2021

Training dates are available in the ETG Event section: www.ethercat.org/events

Slide Master Basics 3
Layouts
Example: Layout
A
“1 Content” with
Default Table B
Table Menu
C

6
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 Step 3: Device Definition

1
Which properties should the SubDevice have?
Slides of Default
Presentation
ETG Slide Master 2
2021 A. Fully integrated design or using a communication interfacing device
Slide Master Basics 3
B. Simple or Complex Device
Layouts
A
C. Hardware Selection
Example: Layout
“1 Content” with
Default Table
i. Physical Layer Interface B
Table Menu
ii. EtherCAT SubDevice Controller (ESC), EEPROM (SII) C

iii. Host controller, Physical Device Interface (PDI) D

D. Device Profile E
E. Process Data + Parameters F
F. Synchronization and Time Stamping Requirements
4

6
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 Step 3 A: Fully Integrated Design vs. Communication Interface

Slides of Default 1
Presentation Fully integrated Communication Interface
ETG Slide Master 2
2021
Slide Master Basics 3
Layouts
Example: Layout
A
PRO:
“1 Content” with PRO:
Default Table B
Table Menu Lower hardware costs Lower development costs
C
Most flexible solution Time to market
D
Full control of all features Less network know-how required
E
CONTRA: CONTRA:
F
Higher development costs Higher hardware costs
4
Form factor restrictions
5
Dependent on API
6
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 Step 3 B: Simple or Complex Device

1
Only
Slides cyclic exchange of digital I/Os (max. number depends on ESC) …
of Default
Presentation

…Slide
ETG optionally
Master synchronized with the Distributed Clocks … 2
2021

Slide…Master
no Basics
more complex process data … 3
Layouts
… no
Example: mailbox protocols (CoE, FoE, EoE, …), no configurability at application level required …
Layout
A
“1 Content” with
Default Table→ Simple Device, no host controller required Digital I/O SubDevice B
or
Table Menu
infrastructure („junction“)
C
 Analog or configurable process data …
D
 … parametrizable application …
E
 … mailbox protocols required …
F
→ Complex Device, host controller required (optionally integrated with the ESC)
4
Performance of host controller determined by the device application, not by EtherCAT communication
stack  In many cases 8-bit µC is sufficient! 5
Any other SubDevice
6
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 Step 3 Ci: Selection of Physical Layer

1
Main supported physical layers are 100BASE-TX and 100BASE–FX*
Slides of Default
Presentation
ETG Slide Master Max. 100 m
2
2021
Slide Master Basics 3
Layouts
Example: Layout
A
“1 Content” with 100 Base-TX
Default Table B
Table Menu
C
EtherCAT requirements on PHYs:
 Full-duplex communication 100 Base-FX D
 Auto-Negotiation, MDI/MDI-X auto-crossover
E
 MII with MI management interface
 Fast link loss reaction times up to several km F

For further details see the ESC Datasheets or corresponding PHY selection guides. 4
→ E.g., Beckhoff PHY Selection Guide: 5
https://download.beckhoff.com/download/document/io/ethercat-development-
products/an_phy_selection_guidev2.7.pdf 6
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 Step 3 Cii: Selection of ESC | Number of Ports

1
 ESCs support 1 to 4 ports (max. number of ports depending on specific ESC)
Slides of Default
Presentation

 Most devices require 2 ports for line connections (also with cable redundancy)
ETG Slide Master 2
2021

 3 and 4 ports required for more complex topological connections

Slide Master Basics 3
Layouts
Example: Layout
A
“1 Content” with
Default Table
Drop line Star B
Table Menu
C

Line topology (with or without cable redundancy) 5

6
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 Step 3 Cii: Selection of ESC | Size of Data Memory

1
 Each ESC has different max. memory size for application data exchange (mailbox, process data)
Slides of Default
Presentation

 For process data, the 3-buffer mechanism shall be considered

ETG Slide Master 2
2021

 1 * Mailbox Out + 1 * Mailbox In + 3 * Process Data Out + 3 * Process Data In ≤ MAX_MEM_SIZE

Slide Master Basics 3
Layouts PDI (Process Data Interface)
Example: Layout
A
“1 Content” with
Default Table B
Table Menu
C

6
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 Step 3 Cii: Selection of ESC | Size of Data Memory

1
DPRAM
Slides of Default
Presentation
size and no. of SMs and FMMUs
ETG Slide Master 2
EtherCAT SubDevice
2021 DPRAM
Controller
Slide Master Basics 0x0 3
Data Link Layer
Layouts 4KByte
Configuration Registers A
Example: Layout 0x0FFF
“1 Content” with 0x1000
Default Table Mailbox Out SM 0 B
Table Menu Parameter Data
(acyclic) Mailbox In SM 1 C

Output Data D
Buffer 1
Buffer 2 SM 2 1..60 E
KByte
Buffer 3 F
Process Data
(cyclic) Input Data Buffer 1 4
Buffer 2 SM 3 5
Buffer 3
0xFFFF 6
May 2014 24
 Step 3 Cii: Selection of ESC | Number of SMs and FMMUs

1
 Each ESC supports a different max. number of SyncManagers (SM) and Fieldbus Memory
Slides of Default
Presentation
Management Units (FMMU)
ETG Slide Master 2
2021
 (typical) Minimum requirements:
Slide Master Basics 3
Layouts 4 * SyncManagersPDI (Process Data Interface)
Example: Layout
A
 3 * FMMUs
“1 Content” with
Default Table B
Table Menu Function SyncManager FMMU
C
Acyclic mailbox communication MainDevice → SubDevice (Mbx Out) SM0
Acyclic mailbox communication SubDevice → MainDevice (Mbx In) SM1 D

Cyclic process data exchange MainDevice → SubDevice (Process Data Out) SM2 FMMU0 E
Cyclic process data exchange SubDevice → MainDevice (Process Data In) SM3 FMMU1 F
Monitoring of Mbx In status (SubDevice wants to send mailbox data) FMMU2
4
 Additional SyncManagers and FMMUs supported by the ESC can be optionally used to define 5
different consistency and timing contexts within the same SubDevice. This is a pretty rare case,
thought. 6
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 Step 3 Ciii: Selection of ESC | Physical Device Interface

1
 Each EtherCAT SubDevice Controller supports one or multiple Physical Device Interfaces
Slides of Default
Presentation
ETG Slide Master 2
2021
 Which specific interface to the ESC is adopted is determined by to the host controller 3
Slide Master Basics
Layouts
 Examples:
Example: Layout
A
“1 Content” with
 Digital I/O (no host controller)
Default Table B
Table Menu
 SPI C

 8/16 Bit µC Interface D

 System-on-chip bus systems E

F
 …
4

5
 PDI performances (clock frequency, data rate, timing requirements, …) can be ESC-specific and
should be checked in the corresponding documentation. 6
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 Step 3 Ciii: Selection of ESC | Additional Criteria

1
Additional
Slides of Default
Presentation
criteria:
ETG Slide Master 2
2021  Price?
Slide Master Basics 3
 Housing?
Layouts
 Size?
Example: Layout
A
“1 Content” with
 Integrated PHYs?
Default Table B
Table Menu
 Integrated CPU? C
 Multi Protocol Capability? D
 Local Support? E

4
 ESC Overview available: https://www.ethercat.org/download/documents/ESC_Overview.pdf
5

6
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 Step 3 Ciii: EtherCAT chip variety: further increasing

µC, µP
™
Trinamic Renesas TI Sitara

ESC / TMC8460 RZ/N1 AMIC120 ™

Slides of Default TI Sitara TI C2000
™
™ AM654x
Presentation TI Sitara ™ TMS320F28388D
TI C2000
Network
ETG Slide Master TI Sitara
™
AM57x
profichip
®
TMS320F28x
profichip
®
AM437x NXP
Chip
2021 ANTAIOS ™ TRITON
Infineon TI Sitara
i.MX RT1180
™
XMC 4300 AMIC110 Renesas
Slide Master Basics TI Sitara
Renesas Renesas Infineon Renesas RX72M
Beckhoff AM335x ASIX
R-IN32M3-EC RZ/T1 XMC 4800 EC-1
Layouts ET1100 AX58200 Microchip
LAN9255
Example: Layout Trinamic ASIX
Trinamic
“1 Content” with TMC8462 TMC8670
AX58400

Default
HilscherTable Hilscher Microchip Beckhoff
netX® 100/500 Beckhoff Hilscher LAN9253 ET1110
netX® 50* Hilscher HMS Analog ASIX
Table Menu ET1200 netX® 90
AX58100
netX® 51/52 Anybus Devices
NP40 Microchip Beckhoff
fido5200
LAN9252 ET1310

Microchip
LAN9254

2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022 2023

IP Core: for
FPGA of
IP Core:
Intel® Atom™
Xilinx®
E6x5C
IP Core: IP Core: IP Core Virtex™-7
IP Core: IP Core:
Xilinx® ® ™ ® ™
Altera Stratix -IV Xilinx Spartan -6 Altera® Altera® Max10™
Spartan™-3 IP Core: Cyclone™-V IP Core: IP Core:
ESC10/20:
Xilinx® Kintex™-7 IP Core: Xilinx® Xilinx® Spartan™-7
® ™
Xilinx Artix -7 Zynq®
® ™
Altera Cyclone -I IP Core:
Altera®
IP Core: UltraScale™
Altera® IP Core:
Cyclone™-II IP Core: IP Core: IP Core:
FPGA
Stratix™-V IP Core: Intel® Cyclone® 10
Altera® Altera® Xilinx® Kintex
® ™
Cyclone™-III Cyclone™-IV UltraScale™ Altera Cyclone -V SoC
*discountinued
 Step 3 D: Device Profiles
In general, this applies for
any SubDevice 1
 Which device profile shall be supported?
Slides of Default
Presentation
ETG Slide Master 2
 For drives, the CiA402 (CANopen™) is mapped to EtherCAT in the ETG.6010 specification.
2021
Slide Master Basics 3
 If the device can be described
Layouts
as hardware modules or as logical modules:
PDI (Process Data Interface)
A
 Modular Device Description recommended
Example: Layout
“1 Content” with
Default Table
 Modular Device Profile (ETG.5001) B
Table Menu Fieldbus Gateways
C

Local bus
D
Module Devices
E

F
Modular Devices
4

6
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 Step 3 D: Modulare Gerätebeschreibung

1
Module:
Slides of Default
Presentation
part of a functionality of the SubDevice
ETGSlots:
Slide Master Order of parameters and process values in the object dictionary 2
2021
Slide Master Basics 3
Layouts
Example: Layout
A
“1 Content” with
Default Table B
Table Menu
C

6
28.11.2022 30
 Step 3 E: Process Data + Parameters

1
Device Profile determines Process Data and Parameters setup.
Slides of Default
Presentation
ETG Slide Master 2
2021
Manufacturer shall determine if Process Data layout is: 3
Slide Master Basics
 Fixed: cannot be changed
Layouts byData
PDI (Process user (example: simple I/O device).
Interface)
Example: Layout
A
 Selectable: user can select between several predefined process data layouts (example: drive
“1 Content” with
Default Table
where process data layout depends on the selected operation mode). B
Table Menu

 Dynamic: determined at device boot-up according to the actually connected hardware modules C
(example: bus coupler with modular I/O). D

6
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 Step 3 F: Synchronization and Time Stamping

1
 Which synchronization mode(s) of the local application shall be supported?
Slides of Default
Presentation

 Free Run: local application triggered by local timer in the SubDevice, no synchronization with
ETG Slide Master 2
2021
network
Slide Master Basics 3
 Synchronous with
Layouts
the cyclic frames: local application triggered by reception of the cyclic
PDI (Process Data Interface)
A
Example: Layout
frame carrying process data (SM-event), jitter mainly depends on MainDevice accuracy.
“1 Content” with
Default Table B
 Synchronous with the Distributed Clocks: local application triggered by highly-precise and
Table Menu
fully synchronized hardware interrupt (SYNC0, SYNC1) generated by the ESC, accuracy in the C
order of nanoseconds
D

E
 Are highly-precise hardware time stamps based on Distributed Clocks (LATCH0, LATCH1) required F
by the application?
4

5
 Each ESC supports a variable number of highly-synchronous SYNC and LATCH interrupts
6
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 Step 4: Hardware Development

1
 Several hardware building blocks involved:
Slides of Default
Presentation Application Controller
ETG Slide Master
According to application requirements 2
2021
Slide Master Basics 3
Layouts
Example: Layout
A
“1 Content” with
Default Table B
Table Menu
C

EtherCAT SubDevice Controller E

According to ESC selection criteria
F

Network Interface / Physical Layer SII EEPROM 5

Standard Ethernet Interface, requirements according Can optionally be emulated at software level
to PHY Selection Guide / ESC Datasheet with some ESCs (e.g. FPGA, SoC) 6
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 Step 4: Hardware Development

1
 Technical documentation may be provided by ESC manufacturer
Slides of Default
Presentation
 Hardware
ETG Slide Master datasheets 2
2021
 Example schematics 3
Slide Master Basics
Layouts
 Configuration worksheets
…
 Layout
Example:
A
“1 Content” with
Default Table B
 Check for detailed information on the ETG Product Guide https://www.ethercat.org/en/products.html
Table Menu
C

6
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 Step 5: Software Development

1
 Typical software structure of EtherCAT devices:
Slides of Default
Presentation
 Application-specific
ETG Slide Master software (e.g. CiA402) 2
2021
 Communication software, implements the following functionalities:
Slide Master Basics 3
Layouts  EtherCAT State Machine A
Example: Layout
 Mailbox Protocol Handling
“1 Content” with
Default Table B
Table Menu  Process Data Exchange
C
 Synchronization
D

 Functionalities supported by most available stacks, check https://www.ethercat.org/en/products.html E

F

6
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 Step 5: Software Development

1
 Example: structure of the Beckhoff SubDevice Stack Code:
Slides of Default
Presentation
ETG Slide Master 2
2021
Host
controller
Slide Master Basics 3
Layouts
Example: Layout
A
“1 Content” with
Default Table B
Table Menu
C

PDI F

4
ESC 5

6
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 Step 5: Software Development

1
 Flow chart with the SubDevice Stack Code:
Slides of Default
Presentation
2
ETG Slide Master
2021 SSC Tool CPU
Slide Master Basics Source Files Development 3
Layouts
Example: Layout
A
ESI
ESI
ESI
c.*/h.*
“1 Content” with
Default Table B
Table Menu
EEPROM C
Device Programmer
Description EtherCAT D
SubDevice
CPU
ESI
E
SII
(EEPROM)
ESC F
EtherCAT MainDevice
Application 4
Description
5

6
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 Step 6: Conformance Testing

1
EtherCAT
Slides of Default
Presentation
Conformance Test Tool (CTT) is helpful throughout the implementation and afterwards
ETG Slide Master 2
Recommended Procedure (see Conformance Guide):
2021
Slide Master Basics 3
 If not yet ETG member: Join ETG (free-of-charge)
Layouts
 Obtain EtherCAT Vendor ID (free-of-charge)
Example: Layout
A
“1 Content” with
 Subscribe to Conformance Test Tool
Default Table B
Table Menu
 Download Conformance Test Record (ETG.7000.2) is the test guideline C
 Tests with CTT
D
 Tests of the LED behavior (ETG.1300)
 Tests of Marking and Trademark Rules (ETG.9001) E
 Further tests F

 Testing at an official EtherCAT Test Center and obtaining a Conformance Certificate is optional, but 4
highly recommended 5

6
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 Step 6: Conformance Test Tool

1
Test
Slides Tool
of Default
Presentation
 Validates
ETG Slide Master conformity for protocol 2
2021 layer
Slide Master Basics 3
 Helps to find errors during
Layouts
development due to detailed A
Example: Layout
error
“1 Content” with description
 Helps to improve support:
Default Table B
Table Menu
detailed information saved with C
CTT project file
D
 EtherCAT device vendors have to E
license the Conformance Test Tool
F
 Updated information about current 4
version:
https://www.ethercat.org/memberarea 5
/en/ct_version.htm
6
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 Step 6: EtherCAT Test Centers

1
Submission
Slides of Default
Presentation
of SubDevice to an EtherCAT Test Center is not mandatory. Testing „at home“ with
Conformance Test Tool is sufficient to meet minimum requirements of Vendor ID agreement.
ETG Slide Master 2
2021
SlideThe Conformance
Master Basics Certificate can only be issued after successfully passing the test at an accredited 3
EtherCAT Test Center, not based on the results of the Conformance Test Tool „at home“.
Layouts
Example: Layout
A
 The test performed in EtherCAT Test Centers exceeds the tests performed by the Conformance Test
“1 Content” with
Default Table B
Tool, including an interoperability test, checks of indicator and labeling, marking rules etc.
Table Menu
C
 The Conformance Certificate does not expire. The Certificate confirms that a device of a certain
release has passed the current test version in the EtherCAT Test Center. Yet, the Certificate can D
neither confirm that all future releases of the device will also pass, nor that the current device
release will pass all future enhancements of the EtherCAT Conformance Test. E

 EtherCAT devices don’t need to be submitted to the EtherCAT Test Center again as soon as a new F
version is released. However, according to the Vendor ID agreement, manufacturers will have to test 4
future releases of their product against the Conformance Test Tool in their R&D lab. Of course you
may also submit your device again to the EtherCAT Test Center and obtain a new certificate! 5

6
2022/2023 EtherCAT International Technology Week - World Series 2022/2023 | A week of webinars 40
 Step 6: Top 5 to succeed in making the SubDevice fail the test

Slides of Default 1
1. Logo:
Presentation
NoMaster
ETG Slide EtherCAT logo reported on the device nor in the documentation (see ETG.1300) 2
2021
2. Trademark:
Slide Master Basics 3
The
Layouts EtherCAT™/Safety over EtherCAT™ trademark is missing in the documentation (see ETG.9001)
A
3. Indicator and Labeling:
Example: Layout
“1 Content” with
DefaultLEDs
Table and labels are not compliant to the specification (see ETG.1300) B
Table Menu
4. Watchdog Behavior: C
If sending of process data is stopped the device does not show the required behavior
D
5. Manual DC tests:
The device does not behave as expected when operated with the Minimum Cycle Time or when the E
generation of SYNC signals is deactivated (see ETG.7000.2)
F

4
→ Check informative part within the ETG.7000.2 describing complex tests step-by-step, in case of doubts contact
[email protected] before applying for the EtherCAT Conformance Test. 5

6
2022/2023 EtherCAT International Technology Week - World Series 2022/2023 | A week of webinars 41
 EtherCAT Conformance Tested certificate

Slides of Default 1
Presentation
ETG Slide Master 2
2021
Slide Master Basics 3
Layouts
Example: Layout
A
“1 Content” with
Default Table B
Table Menu
C

6
28.11.2022 42
Slides of Default
Presentation
ETG Slide Master
2021
Slide Master Basics
Layouts
Example: Layout
“1 Content” with
Default Table
Table Menu

www.ethercat.org/etg2200

2022/2023 EtherCAT International Technology Week - World Series 2022/2023 | A week of webinars 45
 References and events

Slides of Default
Presentation
ETG Slide Master
2021
Slide Master Basics
Layouts
Example: Layout
“1 Content” with
Default Table
Table Menu

2022/2023 EtherCAT International Technology Week - World Series 2022/2023 | A week of webinars 46
 Documents

Slides of Default
Presentation
ETG Slide Master
2021
Slide Master Basics
Layouts
Example: Layout
“1 Content” with
Default Table
Table Menu

www.ethercat.org/downloads

18.-27.10.2022 ETG TWG Semi Meeting 22 | Info and To Do (c) 48

 Development Forum

Slides of Default
Presentation
ETG Slide Master
2021
Slide Master Basics
Layouts
Example: Layout
“1 Content” with
Default Table
Table Menu

www.ethercat.org/forum

2022/2023 EtherCAT International Technology Week - World Series 2022/2023 | A week of webinars 49
 Knowledge Base

 Available on the ETG website: www.ethercat.org/kb

Slides of Default
Presentation
ETG Slide Master
2021
Slide Master Basics
Layouts
Example: Layout
“1 Content” with
Default Table
Table Menu

www.ethercat.org/kb

2022/2023 EtherCAT International Technology Week - World Series 2022/2023 | A week of webinars 50
 “Short links”

www.ethercat.org/etg2200
Slides of Default
Presentation
(starting point: implementation guide)
ETGwww.ethercat.org/etg5001
Slide Master
2021
 www.ethercat.org/etg7000
Slide Master Basics
www.ethercat.org/etg2000
Layouts
www.ethercat.org/etg1300
Example: Layout
“1 Content” with
Default Table
www.ethercat.org/cttdownload
Table Menu

18.-27.10.2022 ETG TWG Semi Meeting 22 | Info and To Do (c) 51

 Slides of Default
Presentation
ETG Slide Master
2021
Slide Master Basics
Layouts
Poster size ~60x85 cm
Example: Layout
Poster size
“1 Content” with~23x33
Default Table
inch
Table Menu
www.ethercat.org/poster

18.-27.10.2022 ETG TWG Semi Meeting 22 | Info and To Do (c) 52

 EtherCAT Compendium | started

www.ethercat.org/compendium
Slides of Default
Presentation
ETG Slide Master
2021
Slide Master Basics
Layouts
Example: Layout
“1 Content” with
Default Table
Table Menu

18.-27.10.2022 ETG TWG Semi Meeting 22 | Info and To Do (c) 53

 Plug Fests

Plug
Slides Fests are developer interoperability meetings
of Default
Presentation
ETGMost helpful and well attended: 2/year in Europe, 1-2/year in Asia, 1/year in North America
Slide Master
2021
 www.ethercat.org/events
Slide Master Basics
Layouts
Example: Layout
“1 Content” with
Default Table
Table Menu

2022/2023 EtherCAT International Technology Week - World Series 2022/2023 | A week of webinars 54
 Internation Technology Week (ITW) – world series

Looking forward to a full week of webinars all about

Slides of Default
Presentation
ETGEtherCAT
Slide Master Main/SubDevice and configuration tool development
2021
 webinars + heaps of “Open Q+A sessions”
Slide Master Basics
Layouts
Example: Layout
“1 Content” with
Default Table
Table Menu
Europe | 2022 November
USA | 2022 December
China | 2023 January | incl. subtitles
Japan | 2023 February | incl. subtitles
South-Korea | 2023 March | incl. subtitles

www.ethercat.org/events

18.-27.10.2022 ETG TWG Semi Meeting 22 | Info and To Do (c) 55

 Webinar „Navigate EtherCAT information“

Slides of Default
Presentation
ETG Slide Master
2021
Slide Master Basics
Layouts
Example: Layout
“1 Content” with
Default Table
Table Menu

18.-27.10.2022 ETG TWG Semi Meeting 22 | Info and To Do (c) 56

Thank you !
Slides of Default
Presentation
ETG Slide Master
2021
Slide Master Basics

Feel
Layouts
welcome for
Example: Layout
“1 Content” with
Default Table

Questions
Table Menu

Comments
Compliments

The next 30 min Q&A time are all yours.