EtherCAT the versatile high speed Ethernet Fieldbus

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1 EtherCAT Technology EtherCAT the versatile high speed Fieldbus 10/02/2009 EtherCAT: Control Automation Technology

2 History of EtherCAT Performance traditional Fieldbusses CPU s Time Communication System needed that fit s to the CPU Power of modern PC s Reduction of cost s Enhance the application field for PC+ Fieldbus Technology 10/02/2009 EtherCAT: Control Automation Technology

3 EtherCAT is the Fieldbus EtherCAT is realtime down to the I/O level no underlying sub-systems any more no delays in gateways In- and outputs, sensors, drives, displays: everything on one system! 10/02/2009 EtherCAT: Control Automation Technology

4 EtherCAT is faster Transmission Rate: 2 x 100 Mbaud (Full-Duplex) Update Times: 256 digital I/O in 11 µs 1000 digital I/O distributed to 100 nodes in 30 µs = 0.03 ms 200 analog I/O (16 bit) in 50 µs, 20 khz Sampling Rate 100 Servo-Axis (each 8 Byte IN+OUT) in 100 µs = 0.1 ms digital I/O in 350 µs 10/02/2009 EtherCAT: Control Automation Technology

5 EtherCAT is faster Bandwidth Usage of for I/O and Drives: Frame: 84 Bytes (incl. Preamble + IPG Inter-Packet Gap) 22 Bytes Header Data: 46 Bytes CRC Request with output data data pay load: e.g. 2Bit 6Byte 4 Bytes 12 Bytes IPG Header Data: 46 Bytes CRC IPG Response with input data with 4 Byte input + 4 Byte output per node: 4,75% application data ratio at 0µs reaction time/node 1,9% application data ratio at 10µs reaction time/node I/O I/O node reaction time 10/02/2009 EtherCAT: Control Automation Technology

6 EtherCAT is faster Bandwidth Usage Comparison: At 4 Byte user data per node: Polling / Timeslicing: ca. 2..5% Broadcast (Master Slaves): ca % From 2 Bit user data per node: EtherCAT: 80 97% 0 Polling / Timeslice Broadcast EtherCAT 10/02/2009 EtherCAT: Control Automation Technology

Functional Principle: on the Fly Car 27 Analogy Fast Train: Train ( Frame) does not stop Even when watching train through narrow window one sees the entire train Car

7 Functional Principle: on the Fly Car 27 Analogy Fast Train: Train ( Frame) does not stop Even when watching train through narrow window one sees the entire train Car (Sub-Telegram) has variable length One can extract or insert single persons (Bits) or entire groups even multiple groups per train 10/02/2009 EtherCAT: Control Automation Technology

8 Functional Principle: on the Fly Slave Device EtherCAT Slave Controller Slave Device EtherCAT Slave Controller Process data is extracted and inserted on the fly Process data size per slave almost unlimited (1 Bit 60 Kbyte, if needed using several frames) Compilation of process data can change in each cycle, e.g. ultra short cycle time for axis, and longer cycles for I/O update possible In addition asynchronous, event triggered communication 10/02/2009 EtherCAT: Control Automation Technology

9 Functional Principle: on the Fly Minimal protocol overhead via implicit addressing IPC.. DVI HDR FH EH Data WKC EH Data WKC EH Data WKC CRC Optimized telegram structure for decentralised I/O Communication completely in hardware: maximum performance no switches needed if only EtherCAT devices in the network Outstanding diagnostic features -compatibility maintained 10/02/2009 EtherCAT: Control Automation Technology

10 Functional Principle: on the Fly IPC Switch.. DVI (optional!) Standard Switch can be used With Switch: only one MAC address for up to nodes (segment addressing) optional: Switch with VLAN Tagging allows for segment adressing without MAC address 10/02/2009 EtherCAT: Control Automation Technology

Performance: Application Example 40 Axis (each 20 Byte Input- and Output-Data) 50 I/O Station with a total of 560 EtherCAT Bus Terminals 2000 Digital + 200 Analog I/O, Bus Length 500 m Performance

11 Performance: Application Example 40 Axis (each 20 Byte Input- and Output-Data) 50 I/O Station with a total of 560 EtherCAT Bus Terminals 2000 Digital Analog I/O, Bus Length 500 m Performance EtherCAT: Cycle Time 276µs at 44% Bus Load, Telegram Length 122µs in spite of this cycle time still 56% bandwidth remaining, e.g. for TCP/IP 10/02/2009 EtherCAT: Control Automation Technology * announced. Computed with Formulas from Powerlink Spec V 2.0, App.3

12 EtherCAT Performance Telegram Time: 7µs Output End of Frame Cycle Time 50 µs = 0,05 ms grid 0,02 ms 10/02/2009 EtherCAT: Control Automation Technology

13 Slow Control Systems benefit, too! Reaction time with legacy fieldbus I/O I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task T mpd Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O Input (Worst case) best case Reaction Time worst case Reaction Time Input Output (best case) T mpd : Master Processing Delay T I/O : Local I/O Update Time (local Extension Bus + Firmware) 10/02/2009 EtherCAT: Control Automation Technology

14 Slow Control Systems benefit, too! System Architecture with EtherCAT I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task no dedicated Master Device any more T mpd Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle Bus Cycle T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O T I/O on underlying extension bus any more 10/02/2009 EtherCAT: Control Automation Technology

15 Slow Control Systems benefit, too! System Architecture with EtherCAT I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task 10/02/2009 EtherCAT: Control Automation Technology

16 Slow Control Systems benefit, too! System Architecture with EtherCAT I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task T DMA (NIC) T EtherCAT Cycle T DMA (Time for Data Transfer from/to Controller via Direct Memory Access): neglectible 10/02/2009 EtherCAT: Control Automation Technology

17 Slow Control Systems benefit, too! Reaction Time with EtherCAT I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task worst case Reaction Time Input (Worst case) Input (best case) best case Output 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 10/02/2009 EtherCAT: Control Automation Technology

18 Fieldbus: requires Mapping in Control System Traditional fieldbus system generate physical process image This has to be mapped to logical process image(s) logical process images Control System, e.g. IPC Feldbus Scanner/ Data n PLC Data NC Data Mapping DPRAM node 1 node 2 node 3 node 4 Master node 1 node 4 node 2 node 3 10/02/2009 EtherCAT: Control Automation Technology

Fieldbus: requires Mapping in Control System The same applies to control system with just one process image Resorting of process data ( Mapping ) is required, too logical process

19 Fieldbus: requires Mapping in Control System The same applies to control system with just one process image Resorting of process data ( Mapping ) is required, too logical process image Control System, e.g. PLC Feldbus Scanner/ Process Data Mapping DPRAM node 1 node 2 node 3 node 4 Master node 1 node 4 node 2 node 3 10/02/2009 EtherCAT: Control Automation Technology

20 EtherCAT: Mapping moved into Slave Devices logical process image: up to 4 GByte.... IPC 2 32 Telegram Structure Data n PLC Data NC Data 0 DVI HDR HDR 1 PLC Data HDR 2 NC Data HDR n Data n CRC Sub- Telegram 1 Sub- Telegram 2 Control System is unburdened, Master becomes very simple Sub- Telegram n Data is transmitted according to the application requirements: extremely fast, flexibly and efficiently 10/02/2009 EtherCAT: Control Automation Technology

Master, Data is provided by DMA, directly to PC RAM : CPU relieved more Performance PC Control with

21 Direct Memory Access saves Time Fieldbus Cards: up to 30% of CPU Time for Data Copying PC Control with Fieldbus Cards PC RAM Scanner card, DP RAM PCI bus CPU Control task memcopy EtherCAT: NIC is PCI Bus Master, Data is provided by DMA, directly to PC RAM : CPU relieved more Performance PC Control with EtherCAT NIC card, DMA transfer CPU PCI DMA bus PC RAM Control task 10/02/2009 EtherCAT: Control Automation Technology

22 EtherCAT Propagation Delay Measurement (I) EtherCAT Node measures time difference between leaving and returning frame EtherCAT vom Master Frame 10/02/2009 EtherCAT: Control Automation Technology

23 EtherCAT Propagation Delay Measurement (II) Propagation delays between any nodes can be computed IPC.. DVI 10/02/2009 EtherCAT: Control Automation Technology

24 EtherCAT Distributed Clocks Precise Synchronisation (<< 1 µs!) by exact adjustment of distributed clocks IPC M t S.. DVI S S S S S S S 10/02/2009 EtherCAT: Control Automation Technology

25 EtherCAT Distributed Clocks Long Term Scope View of two seperated Devices 300 Nodes in between, 120m Cable Length Simultaneousness: ~15 ns Jitter: ~ +/-20ns 10/02/2009 EtherCAT: Control Automation Technology

26 External Clock Synchronisation: IEEE 1588 Switchport with integrated IEEE 1588 Boundary Clock IPC M IEEE 1588 Grandmaster Clock S.. DVI S Boundary Clock S S S S S S 10/02/2009 EtherCAT: Control Automation Technology

27 EtherCAT is Industrial! EtherCAT uses Standard Frames: IEEE Alternatively via UDP/IP (if IP Routing is needed) no shortened Frames Destination Source MTU: max Byte 48 Bit 48 Bit 16 Bit 16 Bit 32 Bit Embedded in Standard Frame w. EtherType 88A4h EtherType Header CRC H. IP Header UDP H. Header Or: via UDP/IP with UDP Port 88A4h 160 Bit 64 Bit 11 Bit Length 1..n EtherCAT Telegrams Res. 1 Bit 4 Bit Type CRC /02/2009 EtherCAT: Control Automation Technology

28 EtherCAT is Industrial! fully transparent for TCP/IP all Internet Technologies available: HTTP, FTP, without restricting the Real Time capabilites! Standard TCP/IP Stack EtherCAT Slave Device Application TCP IP UDP Mailbox Acyclic Data Real Time Application EtherCAT MAC / DLL Process Data PHY PHY 10/02/2009 EtherCAT: Control Automation Technology

29 EtherCAT is Industrial! Any Device can be connected to Switchport Access to Webserver with Standard-Browser IPC virtual Switch Functionality Switchport Webserver.. DVI 10/02/2009 EtherCAT: Control Automation Technology

30 Switchport: Any Protocol Interface to any Device or Network Frames are inserted in EtherCAT Protocol over EtherCAT EtherCAT Switchport MAC µc Fragementation Mailbox PHY EtherCAT MAC / DLL Process Data PHY PHY 10/02/2009 EtherCAT: Control Automation Technology

31 Switchport: Any Protocol Interface to any Device or Network Frames are inserted in EtherCAT Protocol over EtherCAT EtherCAT Switchport MAC PHY RX1 RX2TX RX RX3 µc Fragmentation RX4 TX2 TX3 TX1 PHY Mailbox Process Data EtherCAT MAC / DLL TX2 TX3 TX1 PHY 10/02/2009 EtherCAT: Control Automation Technology

32 EtherCAT is Industrial! Virtual Switch routes any Frame From inside as well as from outside the segment virtual Switch Functionality Switchport IPC Switch.. DVI Switch 10/02/2009 EtherCAT: Control Automation Technology

33 Vertical Integration (I)...via Switch IPC Switch.. DVI +any Protocol can be used +requires only one Port (at IPC/Controller) - but: performance reduced by switch delay (and generic traffic) 10/02/2009 EtherCAT: Control Automation Technology

34 Vertical Integration (II)...via Switchport Terminal.. IPC DVI +any Protocol can be used +requires only one Port (at IPC/Controller) +EtherCAT performance is not limited - EtherCAT needs to run 10/02/2009 EtherCAT: Control Automation Technology

35 Vertical Integration (III)...via 2nd Port.. IPC DVI +any Protocol can be used +EtherCAT performance is not limited - requires second Port (at IPC/Controller) 10/02/2009 EtherCAT: Control Automation Technology

36 EtherCAT: Flexible System Architecture Master Slave Master Master Slave Slave Master IPC.. DVI Switch Master IPC.. DVI 10/02/2009 EtherCAT: Control Automation Technology

37 EtherCAT wiring is more flexible Standard Topology: Star not ideal here a test setup for demo purposes ;-) 10/02/2009 EtherCAT: Control Automation Technology

38 EtherCAT wiring is more flexible Line-Topology: any number of nodes lined up IPC.. DVI up to nodes 10/02/2009 EtherCAT: Control Automation Technology

39 EtherCAT wiring is more flexible Electrical Signal Variants: 100BaseTX and LVDS IPC on LVDS physics: for modular devices.. DVI on 100BASE-TX; up to 100 m, with transformer coupling 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 ) 10/02/2009 EtherCAT: Control Automation Technology

40 EtherCAT wiring is more flexible Topology-Variant: Daisy Chain IPC.. DVI Cable: Standard CAT5 Cable without Crossover 10/02/2009 EtherCAT: Control Automation Technology

41 EtherCAT wiring is more flexible Topology-Variant: Daisy Chain with Drop Lines IPC.. DVI Cable: Standard CAT5 Cable without Crossover 10/02/2009 EtherCAT: Control Automation Technology

42 EtherCAT wiring is more flexible flexible tree structures arbitrarily extendable IPC.. DVI Cable: Standard CAT5 Cable without Crossover 10/02/2009 EtherCAT: Control Automation Technology

43 EtherCAT instead of PCI Protection of your investment: Seamless integration of existing fieldbus devices Process image update-time via PCI (500 Bytes input and output data each): 400µs Process image update-time via EtherCAT (1500 Bytes input and output data): 150µs 10/02/2009 EtherCAT: Control Automation Technology

44 EtherCAT instead of PCI No Slots in Control System (IPC or SPS) required any more Nevertheless maximum expandability EtherCAT 10/02/2009 EtherCAT: Control Automation Technology

45 EtherCAT instead of PCI No Slots in Control System (IPC or SPS) required any more Nevertheless maximum expandability EtherCAT 10/02/2009 EtherCAT: Control Automation Technology

46 EtherCAT is easier to Addressing: No manual address setting required Addresses can be assigned automatically Addresses can be kept no new addressing if nodes are added 10/02/2009 EtherCAT: Control Automation Technology

47 EtherCAT is easier to Topology: Automatic topology target/actual comparison Diagnosis: Diagnosis with exact localisation Network planning: Performance independent of: Slave ation Topology (no Switches/Hubs) 10/02/2009 EtherCAT: Control Automation Technology

48 EtherCAT is lower costs Master: no dedicated plug in card (co-processor), on-board Port is fine Slave: - low cost Slave Controller - FPGA or ASIC - no powerful µc needed Infrastructure: - no Switches/Hubs required - Standard Cabling 10/02/2009 EtherCAT: Control Automation Technology

49 EtherCAT is easier to Master: Master Sample Code (Source) EtherCAT configuration tool Device Description (XML) XML Data formats System Configuration Tool Network Description incl. Boot-Up (XML) Process Image Description (XML) HDR Control Task Process Data EtherCAT Master Standard MAC 10/02/2009 EtherCAT: Control Automation Technology

50 EtherCAT is easier to Example: Master with just one process image: typical e.g. for small controllers with one control task up to 1486 Byte Process data size Header for Process Data Communication remains constant Header DA SA Type ECAT Frame HDR EtherCAT HDR EtherCAT Telegram Data (6) (6) (2) (2) (10) (0.1486) CTR Pad. FCS (2) (0 32) (4) constant Header completely sorted (mapped) process data Working Counter: constant Padding Bytes and CRC generated by Controller (MAC) Master can be ed with minimal effort No separate communication processor required (e.g. on plug-in card) Much simpler than legacy fieldbus systems Very much simpler than competing Industrial approaches 10/02/2009 EtherCAT: Control Automation Technology

51 EtherCAT is well proven in series production since end of 2003 more nodes shipped than PROFINET IRT, Powerlink Version 2 and SERCOS III alltogether 10/02/2009 EtherCAT: Control Automation Technology

52 EtherCAT is well proven Quote Schuler Company: This system enables us to realize fast drive and hydraulic controls for all applications currently used in the Schuler Group. Another crucial factor is that, due to EtherCAT's performance, we still have enough potential for solving complex control tasks in future without speed problems. 10/02/2009 EtherCAT: Control Automation Technology

53 EtherCAT Architecture + Device Profiles File System, Bootloader File Access HTTP, FTP, TCP IP UDP EtherCAT Device IEC is the SERCOS* Standard Mailbox IDN Service Channel IEC / IEC EtherCAT Slave Controller Physical Layer Device Application Object Dictionary SDO EN / IEC EN is the CANopen Standard Process Data PDO Mapping AT MDT FoE EoE SoE CoE CoE/SoE Process Data *SERCOS interface is a trademark by IGS e.v. 10/02/2009 EtherCAT: Control Automation Technology

54 Typical EtherCAT Device Architecture optional HTTP, FTP, EtherCAT Device Application Device Profile Definitions TCP IP UDP Objects Asynchronous Communication (Explicit Addressing) Cyclic Synchronous Communication (Implicit Addressing) EoE CoE CoE Mailbox EtherCAT Slave Controller Process Data Physical Layer 10/02/2009 EtherCAT: Control Automation Technology

55 Device Profile IEC Definition (IEC ): representation of a device in terms of its parameters, parameter assemblies and state model that describes the device s data and behavior as viewed through a network. A device profile consists of the data (parameters, parameter assemblies and parameter groups) and behaviour (functional elements, state model and services) provided by the device. 10/02/2009 EtherCAT: Control Automation Technology

56 Example from CANopen Drive Profile (IEC ): Cyclic synchronous position mode describes the device s data and behavior as viewed through a network 10/02/2009 EtherCAT: Control Automation Technology

57 CANopen Device + Application Profiles (1) 10/02/2009 EtherCAT: Control Automation Technology

58 CANopen Device + Application Profiles (2) 10/02/2009 EtherCAT: Control Automation Technology

59 CANopen Device + Application Profiles (3) 10/02/2009 EtherCAT: Control Automation Technology

60 CANopen Device + Application Profiles (4) 10/02/2009 EtherCAT: Control Automation Technology

61 CANopen Device + Application Profiles (5) 10/02/2009 EtherCAT: Control Automation Technology

62 CANopen Device + Application Profiles (6) 10/02/2009 EtherCAT: Control Automation Technology

63 CANopen Device + Application Profiles (7) 10/02/2009 EtherCAT: Control Automation Technology

64 CANopen Device + Application Profiles (8) 10/02/2009 EtherCAT: Control Automation Technology

65 IEC EtherCAT Servodrive Architecture optional HTTP, FTP, EtherCAT Device Servodrive Application TCP IP UDP Mailbox IDN Service Channel EtherCAT Slave Controller Physical Layer Process Data: AT / MDT Servodrive Profile IEC / IEC EoE SoE SoE Process Data IEC is the SERCOS* Standard * SERCOS interface is a trademark by IGS e.v. 10/02/2009 EtherCAT: Control Automation Technology

66 EtherCAT in IEC 61800: Electrical power drive systems IEC : Generic Interface and use of profiles for power drive systems Annex A: Mapping to DS402 IEC : Interface Definition Annex B: Mapping to CIP Annex C: Mapping to PROFIdrive Annex D: Mapping to SERCOS IEC : Profile Specifications Annex A: Profile DS402 Annex B: Profile CIP Annex C: Profile PROFIdrive Annex D: Profile SERCOS IEC : Mapping of profiles to network technologies Mapping to CANopen Annex A Mapping to EtherCAT Mapping to EPL B... C... Mapping to SERCOS I/II Annex D Mapping to SERCOS III Mapping to EtherCAT 10/02/2009 EtherCAT: Control Automation Technology

EtherCAT is an open technology Foundation: November 2003 Tasks: Support, Advancement and Promotion of EtherCAT Already more than 875* member companies from 44 countries

67 EtherCAT is an open technology Foundation: November 2003 Tasks: Support, Advancement and Promotion of EtherCAT Already more than 875* member companies from 44 countries in 6 continents: Device Manufacturers End Users Technology-Provider Membership is open to everybody as of Nov /02/2009 EtherCAT: Control Automation Technology 67

68 Members from 44 Countries, 6 Continents Australia Austria Belarus Belgium Bosnia and Herzegovina Brazil Canada China Croatia Czech Rep Denmark Finland France Germany Greece Hungary India Israel Italy Japan Korea Liechtenstein Lithuania Mexico Netherlands Norway Poland Portugal Romania Russia Serbia Singapore Slovakia Slovenia South Africa Spain Sweden Switzerland Taiwan Thailand Turkey Ukraine United Kingdom USA 10/02/2009 EtherCAT: Control Automation Technology

69 EtherCAT Technology Group Membership Development As of November 6th, 2008: 875 Members Nov 03 Mai 04 Nov 04 Mai 05 Nov 05 Mai 06 Nov 06 Mai 07 Nov 07 Mai /02/2009 EtherCAT: Control Automation Technology

70 EtherCAT Technology Group Members (as of March 2008) 10/02/2009 EtherCAT: Control Automation Technology

71 ETG: Active Members Much more important than membership figures: how many are active, how many the technology? April 2008: More than 550 Implementation Kits sold to ETG Members (29% Master, 71% Slaves), plus there are Open Source masters! Hannover Fair 2008: 54 Vendors with over 150 different EtherCAT Devices at ETG booth among those 20 drives and 20 different Masters in function, using 10 different operating systems 10/02/2009 EtherCAT: Control Automation Technology

72 Adoption Rate in Motion Control CANopen 56 Profibus 41 EtherCAT As of 10/2008: 20 additional Vendors show EtherCAT Servo Drives Devicenet 18 Sercos I/II Industrial 16 /IP 15 Interbus 8 Servo Drive Supplier Fieldbus Support according to Servos Drive Market Survey conducted by largest German Automation Magazine 9/2008 Profinet 7 Powerlink 6 Modbus 5 Synqnet Sercos-III Controlnet Modbus/TCP 10/02/2009 EtherCAT: Control Automation Technology

73 Master Implementations: RTOS Selection of Real Time Operating Systems used with EtherCAT Masters: ecos InTime Proconos OS Real Time Java RMOS open source RT Kernel code available RT Linux RTXC Quadros QNX VxWin + CeWin VxWorks Windows CE Windows XP/XPE with Codesys-SP Windows XP/XPE with TwinCAT RT-Extension XENOMAI Linux * Stand Feb /02/2009 EtherCAT: Control Automation Technology

74 Typical EtherCAT application fields All fast applications, e.g.: packaging machines high speed presses injection molding machines woodworking machines machine tooling (CNC) robotics All widely distributed applications, e.g.: materials handling, logistics data acquisition 10/02/2009 EtherCAT: Control Automation Technology 74

75 EtherCAT Application Fields, or: Why do Companies chose EtherCAT? High Performance EtherCAT is the fastest Industrial Technology Flexible Topology Benefit not only for widely distributed applications Ease of Use Easy configuration and maintenance Low Cost Inexpensive ation + Infrastructure Functional Safety Safety communication integrated 10/02/2009 EtherCAT: Control Automation Technology

EtherCAT Standardization Summary EtherCAT is part of the

IEC 61158, IEC 61784-2 After four years of standardization work

EtherCAT standardized as communication technology for SERCOS and

76 EtherCAT Standardization Summary EtherCAT is part of the communication standard! IEC 61158, IEC After four years of standardization work EtherCAT is an official IEC standard. EtherCAT standardized as communication technology for SERCOS and CANopen Drive Profile IEC SEMI approves EtherCAT standard E54.20 EtherCAT is part of ISO /02/2009 EtherCAT: Control Automation Technology

77 EtherCAT Plug Fests 2006 Plug Fest: the most effective way to achieve interoperability 1 st : Jan 24/25, 2006 hosted by AMK 2 nd : April 4/5, 2006 hosted by Beckhoff 3 rd : Oct 5/6, 2006 hosted by SEW Eurodrive 10/02/2009 EtherCAT: Control Automation Technology

78 EtherCAT Products (Selection)* 10/02/2009 EtherCAT: Control Automation Technology *some available, some announced

79 Safety over EtherCAT: Features Fully integrated solution: safe and standard communication in one channel Reduction of fieldbuses and interfaces Central configuration, diagnosis and maintenance for safe and unsafe I/O in one Tool Safety application makes full use of EtherCAT advantages: Short reaction times Almost unlimited no. of nodes Large network extensions Cable redundancy options High Flexibility with Hot Connect 10/02/2009 EtherCAT: Control Automation Technology

80 Safety over EtherCAT: Technology Approach Safety application Safety protocol EtherCAT protocol Standard application Standard application Safety application Safety Protocol EtherCAT protocol Safety over EtherCAT EtherCAT EtherCAT acts as a real black channel 10/02/2009 EtherCAT: Control Automation Technology

81 Safety over EtherCAT: Protocol Features Safety Protocol developed to IEC Protocol meets SIL3 requirements routable via non-safe gateways routable via fieldbus systems Protocol fits for different transfer rates: for 100Mbit as well as for 10kbit serial protocol Even mix of different bus systems possible variable CRC size for minimal overhead suitable for safe I/O and drives excellent diagnosis 10/02/2009 EtherCAT: Control Automation Technology

82 Safety over EtherCAT: Implementations First ation: Beckhoffs TwinSAFE product line, initially on K-Bus transparent integration into EtherCAT systems via bus couplers next step: directly on EtherCAT K-Bus TwinSAFE Bus Terminal 10/02/2009 EtherCAT: Control Automation Technology

83 Safety over EtherCAT: Implementations Decentralized Safety Logic Works with Standard PLC PLC simply organizes data exchange IPC.. DVI Safety inputs Standard PLC Safety outputs Safety Drive Safety outputs & safety logic S S S S 10/02/2009 EtherCAT: Control Automation Technology

84 Without Redundancy: Normal Operation RX Unit RX Master MAC 1 RX TX TX Unit TX Slave 1 Slave M-1 RX TX RX TX TX RX TX RX Slave N RX TX TX RX 10/02/2009 EtherCAT: Control Automation Technology

85 Without Redundancy: Cable Failure RX Unit RX Master MAC 1 RX TX TX Unit TX Slave 1 Slave M-1 Slave M+1 RX TX RX TX RX TX TX RX TX RX TX RX Slave N RX TX TX RX 10/02/2009 EtherCAT: Control Automation Technology

86 Without Redundancy: Node Failure RX Unit RX Master MAC 1 RX TX TX Unit TX Slave 1 Slave M-1 Slave M Slave M+1 Slave N RX TX RX TX RX RX TX TX RX TX RX TX RX TX RX TX RX TX RX TX /02/2009 EtherCAT: Control Automation Technology

87 With Redundancy: Normal Operation Slave 1 RX TX TX RX Slave M-1 RX TX TX RX RX Unit RX Master TX Unit TX MAC 1 MAC 2 RX TX RX TX Only 2nd Port required no special Interface Card Slave N RX TX TX RX 10/02/2009 EtherCAT: Control Automation Technology

88 With Redundancy: Cable Failure RX Unit RX Master TX Unit TX MAC 1 MAC 2 RX TX RX TX Slave 1 Slave M-1 Slave M+1 RX TX RX TX RX TX TX RX TX RX TX RX Slave N RX TX TX RX 10/02/2009 EtherCAT: Control Automation Technology

89 With Redundancy: Node Failure RX Unit RX Master TX Unit TX MAC 1 MAC 2 RX TX RX TX Slave 1 Slave M-1 Slave M Slave M+1 RX TX RX TX RX TX RX TX TX RX TX RX TX RX TX RX Slave N RX TX TX RX 10/02/2009 EtherCAT: Control Automation Technology

90 Go for EtherCAT! Why go for something slower, just because its more expensive? 10/02/2009 EtherCAT: Control Automation Technology

EtherCAT Introduction

Industrial EtherCAT Introduction EtherCAT: Control Automation Technology 1 EtherCAT for Control and Automation Technology EtherCAT is ultra Fast: 1000 dig. I/O: 30 µs, 100 servo s: 100 µs EtherCAT is :