EtherCAT Slave Implementation Guide

FIGURES
FIGURES
Figure 1: EtherCAT Network Architecture ............................................................................................. 13
Figure 2: EtherCAT Slave Architecture ................................................................................................. 14
Figure 3: FPGA Implementations of an EtherCAT Slave ...................................................................... 15
Figure 4: ESC with 4 Ports and Frame Processing Order .................................................................... 17
Figure 5: EtherCAT Frame Structure .................................................................................................... 17
Figure 6: EEPROM Table of Register Values ....................................................................................... 18
Figure 7: Mapping Example of Process Data with FMMU .................................................................... 18
Figure 8: SyncManager in Mailbox Mode .............................................................................................. 19
Figure 9: SyncManager 3-Buffer-Mode ................................................................................................. 19
Figure 10: EtherCAT Slave State Machine ........................................................................................... 21
Figure 11: EtherCAT Network Initialization ........................................................................................... 22
Figure 12: EtherCAT Device Development Procedure ......................................................................... 23
Figure 13: ESC Structure for CAN application profile Applications ....................................................... 28
Figure 14: Slave Stack Code Overview ................................................................................................. 28
Figure 15: Slave Control Stack .............................................................................................................. 29
Figure 16: MDP Schema for Modular Devices ...................................................................................... 30
Figure 17: ESI Structure (EtherCATInfo.xsd) ........................................................................................ 33
Figure 18: ESI File Generation using a graphical Editor ....................................................................... 33
Figure 19: EtherCAT Network Configurator .......................................................................................... 34
Figure 20: TwinCAT Device Scan, Box Scan and Adapter Settings ..................................................... 34
Figure 21: Wireshark Screenshot .......................................................................................................... 35
Figure 22: Testing with the Conformance Test Tool ............................................................................. 36
Figure 23: EtherCAT Product Branding Logos ...................................................................................... 37
Figure 24: Connecting ESC and Ethernet PHY..................................................................................... 38
Figure 25: LVDS Connection ................................................................................................................. 38
Figure 26: EtherCAT Conformance Test Logos .................................................................................... 42
ETG.2200 EtherCAT Slave Implementation Guide V2.0.0 I-9