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The
Fieldbus.
EtherCATEthernet
is:
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
Oliver
Easier toFels
configure
Technology
Marketing
Cost effective
Easier to
implement
Conformance
Safety
Redundancy
Versatile
September 2016
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
1. Bandwidth Utilization
Easier to
configure
Cost effective
Easier to
implement
2. Stack Delays
Well proven
Open
Conformance
Safety
Redundancy
3. Switch Delays
Versatile
September 2016
Ethernet HDR
Well proven
14 Bytes
FCS
Interpacket Gap
CRC
Process
Open
Conformance
Safety
Redundancy
14 Bytes
Versatile
Ethernet HDR
September 2016
20 Bytes
IP HDR
8 Bytes
UDP
HDR
20 Bytes
Ethernet/IP
CIP HDR
Payload,
e.g. 4 Bytes 4 Bytes 14 Bytes
FCS
Interpacket Gap
Data CRC
Process
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
I/O Ports
Faster
Device
Synchronization
Profile
Application
Industrial
Objects
Ethernet(e.g. I/O)
BIG
Network
&
CIP
Flexible
Topology
Transport
Easier to
configure Explicit
Implicit
Msg
Msg
Cost effective
Message
CIP
Easier
to
Encapsulation
implement
Encapsulation
Well proven
Open
TCP
UDP
Conformance
IP
Safety
Redundancy
Ethernet
Versatile
MAC
September 2016
TIME
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
EtherCAT is
LEAN
Profinet IO
Ethernet/IP
EtherCAT
Easier to
Average
implement
0.58 ms
1.89 ms
0.11 ms
Max.
Well proven
0.74 ms
2.96 ms
0.18 ms
0.54 ms
1.23 ms
0.05 ms
Open
Min.
Conformance
Safety
All three protocols were implemented on the same hardware
Redundancy
(interface board with FPGA + Softcore CPU) and by the same team,
Versatile
so they are indeed comparable
* Source: Einer fr 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
September 2016
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Industrial
Ethernet
Flexible Topologyaccumulated delay and jitter even without buffer delay
Substantial
Easier
to
(if
switches
are idle)
configure
Cost effective
Typical
Easier to Store & Forward Delay per switch: Frame length (7122 s) + 3 s
implement
Example:
Full frame, 20 nodes in line topology: 2.5 ms
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
20ms
Cost effective
Cycle
times
Easier
to can be realized in the range of 5 to 10 ms
implement
Safety
Redundancy
Versatile
September 2016
8ms
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Car
27
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Well proven
Open
September 2016
Slave Device
Slave Device
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
EtherCAT Slave
Controller
EtherCAT Slave
Controller
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Master
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
ECAT HDR
PLC Data 1
NC Data
HDR 3
Ethernet Header
HDR 2
Cost effective
HDR 1
Easier to
configure
PLC Data 2
CRC
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
1.
Bandwidth Utilization
Resolved!
Easier to
configure
Cost effective
Easier to
implement
2.
Stack Delays
Resolved!
Well proven
Open
Conformance
Safety
3.
Switch Delays
Resolved!
Redundancy
Versatile
September 2016
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Synchronization
Well proven
Open
Conformance
RAM
CPU
Flash
September 2016
I/O
Versatile
Fieldbus
Controller
Redundancy
Driver
Safety
I/O
Flash
Easier to
implement
I/O
Cost effective
I/O
CPU
I/O
Fieldbus
Controller
Easier to
configure
Driver
Flexible Topology
RAM
Industrial
Ethernet
Synchronization
Industrial
Ethernet
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
EtherCAT
Controller
EtherCAT
Controller
EtherCAT
Controller
EtherCAT
Controller
Cost effective
EtherCAT
Controller
Easier to
configure
Driver
Flexible Topology
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
EtherCAT is faster
EtherCAT is:
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Transmission Rate:
2 x 100 Mbit/s (Fast Ethernet, Full-Duplex)
Update Times:
256 digital I/O in 11 s
1,000 digital I/O distributed to 100 nodes in 30 s
= 0.03 ms
200 analog I/O (16 bit) in 50 s, 20 kHz Sampling
Rate
100 Servo-Axis (each 8 Byte In + Out) in 100 s
= 0.1 ms
12,000 digital I/O in 350 s
Synchronization
I
Industrial
Ethernet
PLC Task O
PLC Task O
PLC Task O
PLC Task O
PLC Task O
Bus Cycle
Bus Cycle
Tmpd
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
TI/O
TI/O
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
TI/O
TI/O
TI/O
TI/O
TI/O
Open
Conformance
Safety
TI/O
Bus Cycle
Output
Redundancy
Versatile
September 2016
Synchronization
Industrial
Ethernet
PLC Task O
PLC Task O
PLC Task O
PLC Task O
PLC Task O
Bus Cycle
Bus Cycle
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
TI/O
Bus Cycle
TI/O
TI/O
TI/O
TI/O
TI/O
TI/O
TI/O
Synchronization
Industrial
Ethernet
PLC Task O
PLC Task O
PLC Task O
PLC Task O
PLC Task O
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
TDMA (NIC)
Well proven
Open
Conformance
TEtherCAT Cycle
Safety
Redundancy
Versatile
September 2016
Master
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
Easier to
implement
Well proven
Open
Data n
Redundancy
PLC Data
Versatile
NC Data
September 2016
PLC Data
NC Data
Data n
Enet FCS
logical
process
images up
to 4 Gbyte
Conformance
Safety
ECAT HDR
HDR 3
Ethernet Header
HDR 2
Cost effective
HDR 1
Easier to
configure
Datagram 1
Datagram 2
Datagram n
Synchronization
EtherCAT is:
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Source: konflikty.pl
Versatile
September 2016
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
EtherCAT Frame
Processing Direction
EtherCAT Frame
Forwarding Direction
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Master
Distributed Clocks
EtherCAT is:
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
Master
Easier to
configure
S
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Distributed Clocks
EtherCAT is:
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
Interrupt
Node 1
Easier to
configure
Cost effective
Easier to
implement
Simultaneousness:
~15 ns
Well proven
Jitter: ~ +/-20 ns
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Interrupt
Node 300
Sample
Easier to
Point
implement
DC
Sync
100 s
100 s
equidistant
Well proven
Open
100 s
100 s
No sampling
Error
Conformance
Safety
Velocity
x
Redundancy
=
Versatile
Sync In
EtherCAT
Calc. Out
In
D/A
A/D
September 2016
Sync Out
Calc. Out
In
D/A
A/D
Calc. Out
In
D/A
A/D
Calc. Out
In
D/A
A/D
Flexible Topology
Easier to
configure
Cost effective
MASTER
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
Easier to
implement
Well proven
SLAVE
MASTER
SLAVE
Open
Conformance
Safety
Redundancy
MASTER
SLAVE
Versatile
September 2016
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
S
Y
N
C
H
R
O
N
O
U
S
MASTER
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
SLAVE
1
SLAVE
MASTER
SLAVE
1
SLAVE
MASTER
SLAVE
Versatile
September 2016
S
Y
N
C
H
R
O
N
O
U
S
Synchronization
IEEE 1588
Grandmaster
Industrial
Ethernet
Flexible Topology
Easier to
configure
Boundary
Clock
Master
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
48 Bit
Destination
48 Bit
Source
16 Bit
16 Bit
EtherType
Header
48 -1498 Byte
EtherCAT Datagrams
32 Bit
CRC
1n EtherCAT Datagrams
Open
Conformance
Safety
Redundancy
Versatile
September 2016
160 Bit
Ethernet Header
Or: via UDP/IP
UDP Port 0x88A4
IP Header
48 -1470 Byte
64 Bit
16 Bit
UDP H.
Header
EtherCAT Datagrams
11 Bit
1 Bit
4 Bit
Length
Res.
Type
CRC
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Standard
TCP/IP
Stack
Ethernet
Application
TCP
UCP
Conformance
Safety
IP
Acyclic Data
Redundancy
Versatile
Mailbox
Process Data
Ethernet PHY
Industrial
Ethernet
Flexible Topology
Webserver
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Master
Switchport
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Master
Online access to
device
Switchport
Easier to
configure
Ethernet MAC
PHY
Cost effective
Easier to
implement
RX1RX2RX3RX4
TX
C
Fragmentation
Well proven
Open
Conformance
Safety
Redundancy
Versatile
PHY
Mailbox
Process Data
September 2016
PHY
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Cost effective
Easier to
implement
Well proven
Master
Open
Conformance
Safety
Redundancy
Versatile
Star/Tree
September 2016
Drop Line
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
10.056
EtherCAT Nodes
LVDS*
Cost effective
Easier to
implement
Well proven
20 km
Master
Open
Conformance
Safety
Redundancy
Versatile
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
EtherCAT P:
Communication & Power combined
EtherCAT
Lessis:Cabling on the field level
Faster
Synchronization
Cascadable in all topologies
(star, line, tree)
Industrial
Ethernet
100 % EtherCAT-compatible
Flexible Topology
100 Mbit/s full duplex,
Easier to
Processing on the Fly,
configure
Distributed Clocks etc.
Cost effective
Easier
Dualto power supply: US (system and
implement
sensors) and UP (peripheral voltage
Well
forproven
actuators) = 24 V DC/3 A
Open
Daisy-chained power supply
Conformance
through EtherCAT P devices
Safety
TX-US
RX+
GNDP
RX- TX+
UP GNDS
Redundancy
Versatile
EtherCAT
Power
Easier to
implement
Cables
Well proven
Open
Standard: industrial CAT5 cables in
AWG22/7
Conformance
Safety
AWG24/7 cables for short distances
available
Redundancy
Versatile
Ultrathin cables for short distances
are in consideration
September 2016
Mechanical
EtherCAT P
keying
4 poles:
EtherCAT
+ 2 x 24 V DC/3 A
24 V DC
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile P
EtherCAT
for actuators
AC and DC motors
Actuators
Valve terminals
September 2016
for sensors
Proximity switches
Light barriers
Shaft encoders
for vision
Cameras
Barcode scanners
3-D scanners
EtherCAT P:
The sensor, actuator and measurement bus
EtherCAT is:
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
M8
EtherCAT
2 x 24 V DC, 3 A
B36
630 V AC/
850 V DC,
64 A
M8
2 x 24 V DC,
je 3 A
B12
90 V DC,
10 A
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
B23
630 V AC/
850 V DC,
30 A
September 2016
B17
630 V AC/
850 V DC,
16 A
Well proven
Open
Conformance
Safety
Redundancy
Versatile
US: 24 V DC,
UP: 24 V DC
400 V AC
September 2016
EtherCAT P: Timeline
EtherCAT is:
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
March 2016:
ETG Technical Committee accepts EtherCAT P as
Extension to the EtherCAT Technology Portfolio
September 2016:
First Draft Specification (M8 Variant) will be presented at
ETG Technical Committee Meeting
Topology:
Automatic Topology Expected/Actual Comparison
Diagnosis:
Diagnosis with exact Localization
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
Every node
constantly
monitors
checksum
Network planning:
Performance independent of:
Slave implementation
(no Stacks involved in Process Data
Communication)
Topology (no Switches/Hubs)
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
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
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Well proven
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 C needed at all
no powerful C + lots of memory needed
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Infrastructure:
no Switches/Hubs required
Standard Ethernet Cabling + Connectors
32 Bit
C
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Slave Implementation:
All time critical functions implemented on ASIC or FPGA
ESC handles Real-time Protocol in Hardware
Integrated Communication State Machine
Network Performance independent of
Slave-C Performance
Protocol Stack
For usage with or without C (Host CPU)
Integrated DPRAM (18 kByte)
Integrated Distributed Clock Handling
Ultra precise interrupts to C
TI Sitara
Faster
AM335x
EtherCAT is:
ARM
Synchronization
A8
Renesas
Renesas TI Sitara
R-IN32M3-EC
RZ/T1
C, P
ARM Cortex
A9 AM435x
Infineon
Beckhoff
ARM Cortex-M
ET1100
Industrial
Ethernet
Hilscher
netX 50
Microchip
HMS
Hilscher
Flexible Topology
Easier to
Hilscher
configure
Cortex
LAN9252
Anybus
NP40
netX 51/52/6
Innovasic
Fido5000
Beckhoff
Cost effective
Easier to
implement
Well proven
Open
IP-Core
for FPGA
of
IP-Core for
Conformance
Safety
Redundancy
IP-Core for
Altera Max10
Xilinx
IP-Core for
IP-Core
Xilinx
Spartan -3
IP-Core for
Xilinx Kintex -7
IP-Core for
ESC10/20:
Altera Stratix -V
Altera Cyclone -I
IP-Core for
September 2016
Altera
Cyclone -V
IP-Core for
Versatile
Intel Atom
E6x5C
IP-Core for
IP-Core for
IP-Core for
FPGA84
Well proven
Open
8/16-bit C Interface
Demultiplexed
Intel Signal Types
Polarity configurable (BUSY,
INT)
Typical C:
Intel 80x86, Infineon
80C16x, Hitachi SH1,
ST10, ARM, TI TMS320
Series,
Conformance
Safety
Redundancy
Versatile
September 2016
SPI
Up to 10 MBaud
C is SPI Master
Typical C:
Microchip PIC, DSPic, Intel 80C51,
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Well proven
Open
Conformance
Safety
Redundancy
Versatile
* as of Sept 2016
September 2016
Faster
3500
Synchronization
Industrial
Ethernet
3000
Flexible Topology
Easier to
configure
2500
Cost effective
2000
Easier to
implement
Well proven
1500
Open
Conformance
1000
Safety
Redundancy
500
Versatile
September 2016
2016: exceeding
500 new members/year
Faster
3500
Synchronization
Industrial
Ethernet
3000
2013:
1 new Member every
calendar day
Flexible Topology
500
400
Easier to
configure
2500
Cost effective
300
2000
Easier12
to months
implement
Growth
Well proven
1500
Open
Conformance
1000
Safety
Redundancy
200
2008:
1 new Member every
business day
100
500
Versatile
September 2016
As
of Sept 6th, 2016:
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
62 Countries, 6 Continents
EtherCAT is:
Faster
Argentina
Australia
Synchronization
Austria
Belarus
Belgium
Bosnia and
Herzegovina
Brazil
Bulgaria
Canada
Croatia
Czech Rep
Denmark
Finland
Estonia
France
Germany
India
Indonesia
Iran
Ireland
Israel
Italy
Japan
Latvia
Liechtenstein
Lithuania
Luxemburg
Macedonia
Malaysia
Malta
New Zealand
Norway
Poland
Portugal
Qatar
Romania
Russia
Switzerland
Industrial
Ethernet
Columbia
China
Flexible Topology
Easier to
configure
Greece
Cost effective
Hungary
Easier to
implement
Well proven
Korea
Lebanon
Open
Conformance
Mexico
Safety
Netherlands
Redundancy
Versatile
San Marino
Serbia
Singapore
Slovakia
Slovenia
South Africa
Spain
Sweden
Taiwan
Thailand
Turkey
UAE
Ukraine
United Kingdom
USA
Vietnam
September 2016
EtherCAT is:
Faster
90%
>3900 members
33 members
Synchronization
Industrial
Ethernet
80%
Flexible Topology
70%
60%
Easier to
configure
Cost effective
Asia
Easier to
implement
50%
40%
Well proven
Open
Europe
Conformance
w/o Germany
Safety
30%
Redundancy
Versatile
20%
10%
September 2016
Germany
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Liechtenstein!
13.9 ETG members
per 100,000 inhabitants
The equivalent of 180,000
Chinese members
Martin Rostan,
GER
Joseph P. Stubbs,
USA
Key Yoo,
KOR
Dr. Guido
Beckmann, GER
Andrea Bock,
GER
Geng Cheng,
CHN
Flexible Topology
Easier to
configure
Cost effective
Dr. Yong-Seon
ProfEasier
to
Moon, KOR
implement
Emma Lee,
KOR
Well proven
Open
Conformance
Safety
Dr. YanQiang Liu,
Burkart Lingner,
CHNRedundancyGER
Alessandro Figini,
GER
Florian Hammel,
GER
Liliane Hgel,
GER
Florian Hfele,
GER
Versatile
Fengjiao (Jojo) Fu
CHN
September 2016
Oliver Fels,
GER
Masanori Obata,
JPN
Michele Beers,
USA
Makiko Hori,
JPN
Synchronization
Industrial
Ethernet
Flexible Topology
Board of Directors
Executive
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
ETG Headquarters
Germany
Marketing Committee
(MC)
ETG Office
North America
ETG Regional
Committee Japan
ETG Office
China
ETG Regional
Committee Korea
ETG Office
Japan
ETG Office
Korea
Technical Advisory
Board (TAB)
Technical Working
Groups (TWG)
Semiconductor
CiA402 Drive
Profile
Conformance
EAP
FDT/DTM
Master Classes
Safety
Vision Sensor
September 2016
Technical Committee
(TC)
EtherCAT Versioning
EtherCAT is:
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Synchronization
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Avnet
Beck IPC
Deutschmann
EBV Elektronik
Hilscher
Infineon Technologies
Microchip Technology
Red one technologies
Renesas
Soft Servo Systems
Softing Industrial Automation
Spansion
STMicroelectronics
Terasic Technologies
Texas Instruments
TRINAMIC Motion Control
Xilinx
Master
Faster
EtherCAT is:
acontis
esd
HMS Industrial Networks
igH
Kithara
Koenig-pa
MicroSys Electronics
Profimatics
Sybera
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
33
eCos
FreeRTOS
INTEGRITY
INtime
Linux (with RT-Preempt)
Microware OS-9
MQXTM
On Time RTOS-32
Oracle Solaris (SunOS)
PikeOS
Proconos OS
QNX
RMOS
ROS (Robot Operating
System)
RTKernel
RTLinux
RTX
RTXC
RTAI-Linux
SCALE-RT
TKernel
VxWin + CeWin+
RTOS32Win+LxWin
VxWorks
Windows CE
Windows Embedded
with IntervalZero RTX
Windows XP/XPE with
CoDeSys SP RTE
Windows XPE/WES7/
WES8 with TwinCAT RTExtension
Windows NT/2000/XP/
Vista/7/8 with TwinCAT
RT-Extension
XOberon
XENOMAI Linux
C/OS-IITM
ITRON
* as of March 2014
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
193
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
156
is:
ectronic
Kolektor Synatec
Schaeffler Engineering
Ackermann
elobau
Kollmorgen
esd
Kuhnke
Schweitzer
Engineering
Laboratories / SEL
Faster
ADDI-DATA
SynchronizationFesto
Adlink
Lenze
Foshan Shunde
M-System
Industrial
Gather Win Information
AFT Fahrzeugtechnik
MaVi
Tech.
Ethernet
Algo System
Messung
Galil Motion Control
Flexible
Topology
Amoy
Dynamics
NEXCOM
Gantner
Anca Motion
MicroControl
GE Intelligent
Easier to
Platforms
AutomationX
Microinnovations/
configure
Eaton
Gefran
B&R
Mikrap
Cost effective Grossenbacher
Balluff
MKS Instruments
HBM
Baumller
Easier to
MKT Systemtechnik
Helmholz
BBH
implement
MSC
Hitachi
Beckhoff
MTT
Well proven
IDS
Belden
Murrelektronik
Imc/Additive
Berghof
Open
M-System
IPC DAS
Brunner Elektronik
National Instruments
Conformance
ISAC
Bosch
Rexroth
NCT
IXXAT
CEC
Safety
Omron
Jger Messtechnik
Cosworth
Panasonic SUNX
Redundancy Jetter
CREVIS
Parker Hannifin
Jumo
CSM
Versatile
Pilz
KEB
Deif
Phoenix Contact
KEBA
DEWESoft
Power Instruments
Keyence
Dina Elektronik
Prima Electro
kk-electronic
dSPACE
Renesas
Knestel
Eckelmann
September 2016
SERAD
SEW Eurodrive
SIPRO
Shanghai Xinhua
SHF
SMC
SOFTLINK
Sontheim Industrie
Elektronik
TETRA
TexComputer
TR Elektronik
Turck
UFG Elettronica
Unidor
Unitro
VIPA
Wachendorff
WAGO
Watlow
Weidmller
Wenglor
Wieland Electric
105
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Material feeding
Muting
Synchronization
Two-Hand control
Industrial
Ethernet
Protection of workspace
e.g. with Laser scanner
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Emergency
stop
Operator
Diagnosis
Conformance
Safety
Redundancy
Versatile
Safely-limited
Position / Speed
September 2016
Setup /
Maintenance
Safety guard
SPS
Standard fieldbus
Faster
Standard
I/O
Synchronization
Industrial
Ethernet
..
..
DVI
Flexible Topology
RelaisLogic
Easier to
configure
Safe
Inputs
Cost effective
Easier to
implement
Well proven
Safe
Logic
Open
Conformance
Safe
Outputs
Safety
Redundancy
Versatile
M M
September 2016
Standard
Drives
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Device 1
Device 2
Faster
Synchronization
Industrial
Ethernet
Safety
Application
Flexible Topology
Standard
Application
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Safety
Application
Standard
Application
Safety over
EtherCAT
Protocol
Safety over
EtherCAT
Protocol
EtherCAT
Communication Interface
EtherCAT
Communication Interface
Conformance
Safety
EtherCAT Telegram
Redundancy
Versatile
Safety over
EtherCAT
EtherCAT
DLL and AL
FSoE Frame
Device 1
Faster
Safety
Application
Synchronization
Industrial
Ethernet
Standard
Application
Flexible Topology
Safety over
EtherCAT
Protocol
Easier to
configure
Cost effective
EtherCAT
Communication Interface
Easier to
implement
Conformance
Ethernet
Header
FSoE
Open
EtherCAT Frame
HDR
Well proven
2. Datagram
Process Data FCS
Safety
FSoE Frame
Redundancy
Versatile
CMD
September 2016
Safe
Data 0
CRC_0
Safe
Data 1
CRC_1
Safe
Data n
CRC_n Conn ID
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Decentralized Safety-Logic
Standard PLC routes the safety messages
Standard
PLC
Safety Inputs
Safety Sensors
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Safety Outputs
Well proven
Open
Conformance
Safety
Redundancy
Versatile
Safety Drives
September 2016
Safety Logic
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
27
EtherCAT Master
Faster
Synchronization
RX Unit
TX Unit
RX
TX
Industrial
Ethernet
Flexible Topology
Easier to
configure
MAC 1
RX TX
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Slave 1
RX
TX
TX
RX
Slave 2
RX
TX
TX
RX
Slave N
RX
TX
TX
RX
EtherCAT Master
Faster
Synchronization
RX Unit
TX Unit
RX
TX
Industrial
Ethernet
Flexible Topology
Easier to
configure
MAC 1
RX TX
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Slave 1
RX
TX
TX
RX
Slave 2
Slave N-1
RX
TX
RX
TX
TX
RX
TX
RX
Slave N
RX
TX
TX
RX
EtherCAT Master
Faster
Synchronization
RX Unit
TX Unit
RX
TX
Industrial
Ethernet
Flexible Topology
Easier to
configure
MAC 1
RX TX
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Slave 1
RX
TX
TX
RX
Slave 2
Slave N-2
Slave N-1
RX
TX
RX
TX
RX
TX
TX
RX
TX
RX
TX
RX
Slave N
RX
TX
TX
RX
EtherCAT Master
Faster
Synchronization
RX Unit
TX Unit
RX
TX
MAC 1
MAC 2
RX TX
RX TX
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Slave 1
RX
TX
TX
RX
Slave 2
RX
TX
TX
RX
Slave N
RX
TX
TX
RX
EtherCAT Master
Faster
Synchronization
RX Unit
TX Unit
RX
TX
MAC 1
MAC 2
RX TX
RX TX
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Slave 1
RX
TX
TX
RX
Slave 2
Slave N-1
RX
TX
RX
TX
TX
RX
TX
RX
Slave N
RX
TX
TX
RX
EtherCAT Master
Faster
Synchronization
RX Unit
TX Unit
RX
TX
MAC 1
MAC 2
RX TX
RX TX
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Slave 1
RX
TX
TX
RX
Slave 2
Slave N-2
Slave N-1
RX
TX
RX
TX
RX
TX
TX
RX
TX
RX
TX
RX
Slave N
RX
TX
TX
RX
Cabling redundancy
2nd Ethernet port needed on master side only
Hot Swap of devices
Hot Connect of network segments
Hot Connect
Master Redundancy with Hot Stand By
Group
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Master
Master to Slave
Slave to Slave
Master to Master
Flexible Topology
M2S
Easier to
configure
Switchports
Cost effective
Easier to
implement
Well proven
Open
Master
M2M
Conformance
Gateways
Safety
Redundancy
Versatile
September 2016
M2S
Master
S2S
Faster
MES
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Factory-Network
Synchronization
Remote
Access
WiFi
SCADA
Central Computer
HMI
Configuration/
Diagnosis
Handheld
Easier to
implement
Automated
Guided Vehicle
(AGV)
Well proven
Open
Safety
Redundancy
Versatile
PLC
Fieldbus-Network
Conformance
PLC
PLC
Faster
Synchronization
Industrial
Ethernet
OPC
Controller
Flexible Topology
Easier to
configure
Je Verbindung:
10ms cycle
IN 1kByte
OUT 1kByte
Cost effective
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
Visu
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
IN 600 Byte
OUT 600 Byte
StationsMaster
StationsMaster
StationsMaster
StationsMaster
StationsMaster
StationsMaster
10 ms cycle
Easier to
Stationsimplement
Master
StationsMaster
StationsMaster
StationsMaster
Well proven
Open
Conformance
Safety
Redundancy
Versatile
Einschleusen
Einschleusen
ProzessKammer
ProzessKammer
ProzessKammer
Ethernet Connection
EtherCAT Segment
OPC
September 2016
ProzessKammer
ProzessKammer
Ausschleusen
Ausschleusen
Ausschleusen
Switchport
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Master
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Master sees
process data of
underlying system
as local I/O data
Master with or
without control
application
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
High Performance
EtherCAT is the fastest Industrial Ethernet
technology
Flexible Topology
Benefit not only for widely distributed applications
Ease of Use
Easy configuration and maintenance
Low Cost
Inexpensive implementation & infrastructure
Functional Safety
Safety communication integrated
Product Variety
Great variety of available EtherCAT products
Example:
Humanoid Robots
MARLO, bipedal robot build by
Jonathan Hurst at Oregon State
University for Prof. Jessy Grizzle,
University of Michigan
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Example:
Radio
Telescope
Robert C. Byrd
Green Bank
Telescope, VA:
Retrofit of
Positioning
System of the
world's largest
fully steerable
single aperture
antenna.
EtherCAT is:
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Decisive Factors:
Fieldbus Integration, Performance
EtherCAT is:
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Example: Robotics
DLR, Germany: Rollin Justin
Decisive Factors:
Fieldbus Integration, Performance
EtherCAT is:
Faster
Synchronization
Industrial
Ethernet
Flexible Topology
Easier to
configure
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
EtherCAT in
Space:
RJo Joystick by
DLR
Flexible Topology
Easier to
configure
2 Slave Devices,
1 ms Cycle Time
Cost effective
Easier to
implement
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Beckhoff EtherCAT
Chip passed
extensive
irradiation tests
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016
Example:
European XFEL X-Ray Laser,
Hamburg, Germany
91 EtherCAT controlled
magnet assemblies
(undulators)
in the accelerator
Well proven
Open
Dr.
Suren Karabekyan, XFEL:
Conformance
EtherCAT
communication is a key component of our facility. It enables us to
Safety
configure
a very robust and reliable control system with redundant ring topology,
Redundancy
even
in a large installation such as ours. Overall, it is a very cost-effective solution,
Versatile
which is particularly important in the context of research projects funded via public
institutions.
September 2016
Well proven
Open
Conformance
Safety
Redundancy
Versatile
Well proven
Open
Conformance
Safety
Redundancy
Versatile
September 2016