The Ethernet Fieldbus.

Transcription

1 The Ethernet Fieldbus.

2 Ethernet for Real-Time Communication Main Performance Problems: 1. Bandwidth Utilization 2. Stack Delays 3. Switch Delays EtherCAT Technology Group

3 1. Industrial Ethernet Bandwidth Utilization Minimum Ethernet Frame: 84 Bytes Example: with 4 Bytes Process Data (32 I/O): 4/84 = 4,75% Application Data Ratio 84 Bytes, regardless which Protocol 14 Bytes Process Data, e.g Bytes 4 B. 14 Bytes Ethernet HDR Process Data Ethernet Frame Payload: min. 46 Bytes FCS CRC Interpacket Gap 84 Bytes, e.g. with 14 Bytes 20 Bytes 8 Bytes 20 Bytes Payload e.g. 4 Bytes 4 B. 14 Bytes Ethernet HDR IP HDR UDP HDR Ethernet/IP CIP HDR Process Data FCS CRC Interpacket Gap EtherCAT Technology Group

4 2. Industrial Ethernet Stack Delays I/O Ports Device Profile Application Objects (e.g. I/O) CIP Network & Transport Implicit Msg CIP Message Encapsulation IP Encapsulation TCP IP Explicit Msg UDP Industrial Ethernet Protocol Stacks are BIG Processing them needs Ethernet MAC TIME EtherCAT Technology Group

5 Stack Performance Comparison (I) Stack performances of the Ethernet technologies differ substantially, due to the different complexity of the stacks Softing, a German specialist for field bus technology published* the following comparison of the stack delay times: Stack Time Profinet IO Ethernet/IP EtherCAT Average 0.58 ms 1.89 ms 0.11 ms Max: 0.74 ms 2.96 ms 0.18 ms Min: 0.54 ms 1.23 ms 0.05 ms All three protocols were implemented on the same hardware (interface board with FPGA + Softcore CPU) and by the same team, so they are indeed comparable EtherCAT Technology Group * Source: Einer für alle; Flexible Real-Time-Ethernet Anschaltung mit FPGA, messtec drives Automation Real-Time Ethernet Sonderheft 2010, by Frank Iwanitz, Business Development Manager Real-Time Ethernet at Softing GmbH, Munich, Germany

6 Stack Performance Comparison (II) Softing stack performance data shown in a diagram, + Beckhoff EtherCAT Slave Stack Code (SSC*) EtherCAT (SSC) EtherCAT Ethernet/IP Min Max Average Profinet IO 0 0,5 1 1,5 2 2,5 3 EtherCAT Technology Group * SSC Stack Delay time measured on EL9800 EtherCAT Evaluation Kit using the 10 Mhz Serial Process Data Interface and a 40 MHz 16 Bit PIC CPU; 2 Byte Output Data, min 15µs, max 20µs

7 3. Industrial Ethernet Switch Delays Switch Buffer Delay: Unpredicable by Nature Buffer delay depends on buffer frame arrival. QoS (Quality of Service) eases the pain by introducing multiple priorities (and buffers), but does not resolve the issue. EtherCAT Technology Group

8 3. Industrial Ethernet Switch Delays Almost all Switches use Store & Forward Line Topology means cascaded Switches Substantial accumulated delay and jitter even without buffer delay (if switches are idle). Typical Store & Forward Delay per switch: Frame length (7 122µs) + 3µs. Example: Full frame, 20 nodes in line topology: 2,5 ms Switch Internal Switches Switch Internal Switch Internal Switch EtherCAT Technology Group

9 Ethernet for Real-Time Communication? 20ms 8ms Quote: RT in Profinet provides similar Real-Time properties like Profibus Source: Profibus International Quote: When tested up to 80 percent network bandwidth utilization, using both managed and unmanaged switches, the system managed 16 position configured axes with an 8 ms coarse update rate. Source: Rockwell Automation, White Paper: Scalability-The Best Approach to Change, Aug EtherCAT Technology Group

10 harvepino - Fotolia.com EtherCAT: Performance Breakthrough EtherCAT Technology Group

11 EtherCAT: highest Performance The fastest Industrial Ethernet Technology 1000 distributed digital I/O in 30µs 100 Servo-Axis every 100 µs EtherCAT directly to the I/O Slice, no Sub-Bus Optimal Usage of the Standard Ethernet Port in the Controls, no extra hardware Reason for this Unique Performance: The EtherCAT Functional Principle (Ethernet on the Fly) EtherCAT Technology Group

12 Functional Principle: Ethernet on the fly Car 27 Analogy Fast Train: Train (Ethernet Frame) does not stop Even when watching Train through narrow window one sees the entire Train Car (Sub-Telegram) has variable length One can extract or insert single persons (Bits) or entire groups (Bytes) even multiple groups per train

13 Functional Principle: Ethernet on the Fly Efficient: Typically only one Ethernet Frame per Cycle Ideal Bandwidth Utilization for maximum Performance

14 Functional Principle: Ethernet 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

15 HDR 1 HDR 2 HDR 2 Functional Principle: Ethernet on the fly Master Ethernet Header ECAT HDR PLC Data 1 NC Data PLC Data 2 CRC Minimal protocol overhead via implicit addressing Optimized telegram structure for decentralized I/O Communication completely in hardware: maximum (+ predictable!) performance No switches needed if only EtherCAT devices in the network Outstanding diagnostic features Ethernet-compatibility maintained

16 EtherCAT resolves the Performance Problems Main Performance Problems: 1. Bandwidth Utilization Resolved! 2. Stack Delays Resolved! 3. Switch Delays Resolved! EtherCAT Technology Group

17 Driver Fieldbus Controller I/O Fieldbus Controller Master for Local Extension Bus I/O I/O I/O I/O Driver EtherCAT - The Ethernet Fieldbus. Other technologies need local I/O cycles + gateways RAM CPU Flash RAM CPU Flash

18 Driver EtherCAT Controller EtherCAT Controller EtherCAT Controller EtherCAT Controller EtherCAT Controller EtherCAT - The Ethernet Fieldbus. EtherCAT: Real time down to the I/O

19 EtherCAT - The Ethernet Fieldbus. EtherCAT is real time down to the I/O level No underlying sub-systems any more No delays in gateways In- and outputs, sensors, actuators, drives, displays: everything in one system!

20 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 best case reaction time worst case reaction time Input (worst case) Input (best case) T mpd : Master Processing Delay Output T I/O : Local I/O Update Time (local Extension Bus + Firmware)

21 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

22 Slow Control Systems benefit, too System Architecture with EtherCAT: I PLC Task O I PLC Task O T DMA (MAC) I PLC Task O I PLC Task O I PLC Task T DMA = Time for Data Transfer from/to Ethernet Controller via Direct Memory Access: neglectible T EtherCAT Cycle August 2012 EtherCAT Technology Group, 2012

23 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 best case EtherCAT Bus Cycle Input (worst case) Input (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

24 Timing Synchronous with Frame Position Signal = x Sampling error because of jitter Gradiant = velocity equidistant Sample Point ~4 µs Master Jitter 108 µs 94 µs 101 µs 104 µs 100 µs Cycle Time Error due to sample deviation Velocity = x EtherCAT Out In Calc. Out In Calc. Out In Calc. Out In Calc. Out In D/A D/A D/A D/A D/A A/D A/D A/D A/D A/D Not in sync with IN

25 Timing Synchronous with Frame Problems of this approach: I/O signal timing depends on Master Modern (multicore) CPU systems will always jitter in the range of µs Measuring error due to sample deviation or: special Hardware in the Master needed Solution Timing with Distributed Clock System

26 EtherCAT Propagation Delay Measurement (1) EtherCAT Node measures time difference between leaving and returning frame EtherCAT Frame Processing Direction EtherCAT Frame Forwarding Direction

27 EtherCAT Propagation Delay Measurement (2) EtherCAT Node measures time difference between leaving and returning frame Master IPC

28 Distributed Clocks Precise Synchronization (<< 1 µs!) by exact adjustment of Distributed Clocks Master IPC M t S S S S S S S

29 Distributed Clocks Long Term Scope View of two separated devices 300 Nodes in between, 120m Cable Length Simultaneousness: ~15 ns Interrupt Node 300 Interrupt Node 1 Jitter: ~ +/-20ns

30 Synchronous with Distributed Clocks Position Signal = x Sample Point DC Sync 100 µs 100 µs 100 µs 100 µs equidistant Velocity = x 100 µs Cycle Time No sampling Error EtherCAT Calc. Out Sync In Sync Out In Calc. Out In Calc. Out In Calc. Out In D/A D/A D/A D/A A/D A/D A/D A/D

31 Synchronization of multiple Networks EtherCAT networks can be coupled via EtherCAT Bridge Bridge provides hardware synchronization of several networks 1 MASTER 1 SLAVE 2 SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE MASTER 2 SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE 3 MASTER 3 SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE

32 Synchronization of multiple Networks EtherCAT networks can be coupled via EtherCAT Bridge Bridge provides hardware synchronization of several networks 1 S Y N C H R O N O U S MASTER 1 MASTER 2 MASTER 3 SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE SLAVE S Y N C H R O N O U S SLAVE SLAVE SLAVE

33 External Clock Synchronization: IEEE 1588 Switchport with integrated IEEE 1588 Boundary Clock IEEE 1588 Grandmaster Master M S Boundary Clock S S S S S S

34 EtherCAT is Industrial Ethernet! fully transparent for TCP/IP all Internet technologies (HTTP, FTP, Webserver, ) available without restricting the real time capabilities! EtherCAT Slave Device Standard TCP/IP Stack TCP Ethernet Application UDP Real Time Application IP Acyclic Data Mailbox EtherCAT MAC / DLL Process Data Ethernet PHY Ethernet PHY

35 EtherCAT is Industrial Ethernet! Any Ethernet Device can be connected to Switchport Access to Webserver with Standard Browser Master Virtual Ethernet Switch Functionality Switchport Webserver

36 Switchport: Any Ethernet Protocol TX2 TX3 TX1 Interface to any Ethernet Device or Network Ethernet Frames are inserted into EtherCAT Protocol: Ethernet over EtherCAT PHY EtherCAT Switchport Ethernet MAC RX1 RX2 TX RX RX3 µc Fragmentation PHY Mailbox Process Data EtherCAT MAC / DLL TX2 TX3 TX1 RX4 PHY

37 EtherCAT is Industrial Ethernet! Master TCP/IP Stack can provide remote Mailbox access via TCP/IP to any EtherCAT device ideal for tools. No need for TCP/IP stack in each device: cost reduction Master Master TCP/IP Stack provides access to Mailbox protocol Switchport Online access to device

38 EtherCAT wiring is more flexible Standard Ethernet Topology: Star

39 EtherCAT wiring is more flexible Flexible topologies arbitrarily extendable Topology variants like Line, Star, Tree, Daisy Chain + Drop Lines possible; can be used in any combination! Up to nodes for each EtherCAT segment Standard Ethernet cabling Line Master Star/Tree Drop Line

40 EtherCAT Extra Large System Test EtherCAT Nodes

41 EtherCAT wiring is more flexible Ethernet Signal Variants of EtherCAT: 100BASE-TX (up to 100 m between 2 nodes) 100BASE-FX (up to 20 km between 2 nodes (single mode fibre) ) LVDS (for modular devices) 100 m LVDS* Master 20 km Ethernet on 100BASE-TX up to 100 m with transformer coupling Ethernet on LVDS* physical layer: for modular devices Ethernet on 100BASE-FX (fibre optics) up to 20 km Any number of physical layer changes allowed *LVDS: Low Voltage Differential Signaling according to ANSI/TIA/EIA-644, also used in IEEE 802.3ae (10 Gigabit Ethernet)

42 EtherCAT instead of PCI Protection of your investment smooth migration path from legacy fieldbus to EtherCAT seamless integration of existing fieldbus devices, e.g.: AS-Interface BACnet MS/TP CANopen CC-Link ControlNet DeviceNet Ethernet/IP FIPIO Interbus IO-Link Lightbus LonWorks Modbus Plus, RTU, TCP PROFIBUS PROFINET IO maximum system expandability with low cost fieldbus gateways

43 EtherCAT is easier to configure Topology: Automatic Topology Expected/Actual Comparison Diagnosis: Diagnosis with exact Localization M Every node constantly monitors checksum Bit errors are detected and localized Even Timing Errors (e.g. Time Window for Actual Values missed) are detected and stored locally in the chip

44 EtherCAT is easier to configure Network planning: Performance independent of: Slave implementation (no Stacks involved in Process Data Communication) Topology (no Switches/Hubs) Addressing No manual address setting required No IP- or MAC-Address Handling Required Addresses can be assigned automatically Addresses can be kept no new addressing if nodes are added

45 EtherCAT is lower costs (1): Engineering Less effort for Network planning: Simplified configuration Default settings will work, no network tuning Improved Diagnosis: Faster error handling leads to less downtime Faster Setup: No address setting required Implementation / Tools: Standard Network Monitor Tools, e.g. MS Network Monitor or Wireshark: free of charge Parser Software: free of charge

46 EtherCAT is lower costs (2): Hardware Master: no dedicated plug in card (co-processor) on-board Ethernet Port is fine Slave: low cost Slave Controller FPGA or ASIC for simple devices: no µc needed no powerful µc needed Infrastructure: no Switches/Hubs required Standard Ethernet Cabling + Connectors 32 Bit µc

47 New EtherCAT Slave Controller Chips Hilscher - Easier to netx implement 100/500 ESC10/20: Altera Cyclone -I Beckhoff ET1200 IP-Core for Altera Cyclone -II Beckhoff ET1100 IP-Core Xilinx Spartan -3 Hilscher netx 50 IP-Core for Altera Cyclone -III IP-Core for Altera Stratix -IV IP-Core for Xilinx Spartan -6 IP-Core for Altera Cyclone -IV TI's Sitara µp family Hilscher netx 51/52/6 IP-Core for FPGA of Intel Atom E6x5C IP-Core for Altera Cyclone -V IP-Core for Xilinx Kintex -7 IP-Core for Xilinx Artix -7 + Zynq IP-Core for Altera Stratix -V Renesas R-IN32M3-EC Anybus NP40

48 EtherCAT is an open technology Protocol is disclosed completely: EtherCAT is IEC, ISO and SEMI Standard (IEC 61158, IEC 61784, ISO 15745, SEMI E54.20) Slave Controller from several sources available Slave Controller provides interoperability ETG organizes Interoperabilitly Testing ( Plug Fests ), Workshops and Seminars Conformance Testing + Certificates

49 EtherCAT in IEC IEC : Generic Interface and use of profiles for power drive systems Annex A: Mapping to CiA402 IEC : Profile CiA402 Mapping to CANopen** IEC Mapping to EPL IEC : Interface Definition Annex B: Mapping to CIP IEC : Profile CIP Motion Mapping to EtherCAT Annex C: Mapping to PROFIdrive IEC : Profile Specifications IEC : Profile PROFIdrive IEC : Mapping of Profiles to Network Technologies B... C... Mapping to SERCOS I/II IEC Mapping to SERCOS III Annex D: Mapping to SERCOS* IEC : Profile SERCOS* Mapping to EtherCAT *SERCOS interface is a trademark of SI e.v. **CANopen is a trademark of CAN in Automation e.v.

50 Typical EtherCAT Device Architecture optional HTTP, FTP, TCP UDP IP Ethernet EtherCAT Device Parameters Asynchronous Communication (Explicit Addressing) DEVICE Application Cyclic Synchronous Communication (Implicit Addressing) Device Profile Definitions EoE Mailbox CoE/SoE EtherCAT Slave Controller CoE/SoE Process Data Ethernet Physical Layer

51 EtherCAT is an open technology Foundation: November 2003 Tasks: Support, Advancement and Promotion of EtherCAT The worlds largest fieldbus organization More than 2200* member companies from 56 countries in 6 continents: Device Manufacturers End Users Technology Providers Membership is open to everybody *as of Dec 2012

52 ETG Team Worldwide Martin Rostan, GER Joseph P. Stubbs, USA Fengjiao (Jojo) Fu CHN Key Yoo, KOR ETG Headquarters Germany Nuremberg Dr. Guido Beckmann, GER Andrea Bock, GER Geng Cheng, CHN ETG Office Japan Yokohama Bin (Beryl) Fan, CHN Thomas Rettig, GER ETG Office North America Seattle, WA ETG Office China Beijing ETG Office Korea Seoul Oliver Fels, GER Florian Hammel, GER Masanori Obata, JPN Florian Häfele, GER Dr. YanQiang Liu, CHN Prof Dr. Yong-Seon Moon, KOR Liliane Hügel, GER Makiko Hori, JPN Rainer Hoffmann, GER Christiane Heubusch, GER

53 EtherCAT Technology Group Structure

54 Nov-03 Feb-04 May-04 Aug-04 Nov-04 Feb-05 May-05 Aug-05 Nov-05 Feb-06 May-06 Aug-06 Nov-06 Feb-07 May-07 Aug-07 Nov-07 Feb-08 May-08 Aug-08 Nov-08 Feb-09 May-09 Aug-09 Nov-09 Feb-10 May-10 Aug-10 Nov-10 Feb-10 May-11 Aug-11 Nov-11 Feb-12 May-12 Aug-12 Nov-12 Feb-13 ETG Membership Development As of April 26 th, 2013: 2378 Members Feb 2012 Feb 2013:

55 ETG Membership Distribution Worldwide 100% ROW 90% 80% Asia 70% 60% 50% 40% 35 members 30% EtherCAT Technology Group is a truly Global Organization Germany Europe w/o Germany America > 2300 members 20% EtherCAT Technology Group

56 Members from 56 * Countries, 6 Continents Argentina Australia Austria Belarus Belgium Bosnia and Herzegovina Brazil Bulgaria Canada China Columbia Croatia Czech Rep Denmark Finland France Germany Greece Hungary India Iran Ireland Israel Italy Japan Korea Lebanon Latvia Liechtenstein Lithuania Luxemburg Malaysia Malta Mexico Netherlands New Zealand Norway Poland Portugal Romania Russia San Marino Serbia Singapore Slovakia Slovenia South Africa Spain Sweden Switzerland Taiwan Thailand Turkey Ukraine United Kingdom USA *as of Feb 2013

57 Slave Master How many members invest in the technology? One indicator: implementation kits sold. Until now, Beckhoff alone has sold over 1400 kits (78% slave kits, 22%(!) master kits) + there are slave implementation kits + master stacks from many other vendors*, such as Beck IPC Deutschmann EBV Elektronik Hilscher HMS anybus IXXAT Automation koenig-pa port Red one Soft Servo Systems ST Microelectronics Terasic Technologies Tetra Xilinx acontis esd igh IXXAT Automation Kithara Koenig-PA MicroSys Profimatics Sybera * Only those listed that have entered their offering in the EtherCAT Product Guide

58 EtherCAT: Large Product Selection I/O, Controller, HMI, Servo Drives, Variable Speed Drives Sensors, Slave + Master Development Kits Control Panels, Hydraulic Valves and Pneumatic Valves,

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

60 Safety over EtherCAT Material feeding Muting Two-Hand control Protection of workspace e.g. with Laser scanner Emergency stop Operator Diagnosis Safely-limited Position / Speed Door guarding with Interlocking Safety guard Setup / Maintenance

61 Modern Machine Safety Concepts

62 Safety over EtherCAT: Software Architecture Safety Application Device 1 Device 2 Safety Application Standard Application Standard Application Safety over EtherCAT Protocol Safety over EtherCAT Protocol Safety over EtherCAT EtherCAT Communication Interface EtherCAT Communication Interface EtherCAT DLL and AL EtherCAT Telegram Safety data container (FSoE Frame) EtherCAT is used as a "black channel" It contains safety and standard information

63 PHY Magnetics RJ45 Safety over EtherCAT: Hardware Architecture One channel communication system According to model A of IEC Annex A In Port RJ45 Controller A Safety Protocol Controller A Safety Protocol Magnetics PHY Device Controller B Safety Protocol Controller B Safety Protocol EtherCAT Slave Controller Out Port

64 HDR FSoE Safety over EtherCAT: Frame Structure EtherCAT Frame Ethernet Header EtherCAT Header 1. Datagram Safety Application FSoE Protocol Device 1 EtherCAT Communication interface 2. Datagram Process Data Standard Application FSC FSoE Frame The FSoE Frame is embedded as a Container in the process data of the device. Each device detects a new FSoE Frame, if at least one Bit in the FSoE Frame is changed. Every 2 Byte SafeData are checked by a 2 Byte CRC FSoE Frame The maximum number of SafeData is therefore not restricted by the protocol. CMD Safe Data 0 CRC_0 Safe Data 1 CRC_1 Safe Data n CRC_n Conn ID

65 Safety over EtherCAT: Advantages 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 number of nodes Large network extensions Cable redundancy options High Flexibility with Hot Connect

66 Safety over EtherCAT: Implementation Example Decentralized Safety-Logic Standard PLC routes the safety messages Standard PLC Safety Inputs Safety Outputs S S Safety Drives Safety Logic S S

67 Without Redundancy: Cable Failure EtherCAT Master RX Unit TX Unit RX MAC 1 RX TX TX J J L L 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

68 With Redundancy: Normal Operation EtherCAT Master RX Unit TX Unit RX TX MAC 1 MAC 2 RX TX RX TX Only 2nd Ethernet Port required no special Interface Card J J J Slave 1 Slave 2 Slave N RX TX TX RX... RX TX TX RX... RX TX TX RX

69 With Redundancy: Cable Failure EtherCAT Master RX Unit TX Unit RX TX MAC 1 MAC 2 RX TX RX TX J J J J Slave 1 Slave 2 Slave N-1 Slave N RX TX... RX TX RX TX... RX TX TX RX TX RX TX RX TX RX Switchover time: < 15µs

70 EtherCAT: High availability Cabling redundancy 2nd Ethernet port needed on master side only Hot Swap of devices Hot Connect of network segments Master Redundancy with Hot Stand By Hot Connect Group Master

71 EtherCAT: versatile system architecture Master to Slave Slave to Slave Master to Master M2S Switchports M2M Master M2S Gateways Master S2S

72 EtherCAT Automation Protocol

73 EtherCAT and Wireless Communication Wireless Devices can be connected via Switchport Wireless segment does not slow down EtherCAT communication Protocol: EtherCAT Automation Protocol Pushed and/or Polled Process Data Exchange Wireless Segment transparent for Master Device Master Switchport Master sees process data of underlying system as local I/O data e.g. Card or RFID Reader Master with or without control application

74 EtherCAT - The Ethernet Fieldbus. Why go for something slower, just because it is more expensive?