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SPiiPlus Training Class

SPiiPlus Training Class. EtherCAT Intro. Real-Time Ethernet Fieldbuses. Real-time & Deterministic Ethernet Networks. Real Time Ethernet based networks Ethernet/IP Standard Ethernet physical layer on master and slave Standard Ethernet stack – no timing optimization

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SPiiPlus Training Class

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  1. SPiiPlus Training Class EtherCAT Intro

  2. Real-Time Ethernet Fieldbuses

  3. Real-time & Deterministic Ethernet Networks Real Time Ethernet based networks • Ethernet/IP • Standard Ethernet physical layer on master and slave • Standard Ethernet stack – no timing optimization • Requires routing equipment – switches, routers – that introduce unpredictable timing delays • Powerlink • Standard Ethernet physical layer on master and slave • Each node must be addressed independently • Requires routing equipment – hubs – either standalone or integrated in device • Profinet • Different versions – some with dedicated hardware and some without • Complex communications scheduling

  4. Real-time & Deterministic Ethernet Networks • EtherCAT • Standard Ethernet physical layer on master, dedicated hardware on slave • On-the-fly frame processing done by hardware – maximum performance • Precise synchronization with distributed clocks (< 1 us jitter) • Flexible topology - no routing equipment needed for line topologies

  5. Principles of EtherCAT

  6. EtherCAT Principle of Operation – Fast Train Car 27 • Analogy to a Fast Train: • “Train” ( = Ethernet Frame) never stops • The entire “Train” can be watched through every a narrow window or station (=node) • “Car” (=Sub-Telegram) has variable size/length • One can “extract” or “insert” single “persons” (Bits) or entire “groups” (Bytes) – even multiple groups per train

  7. EtherCAT Principle of Operation - On the fly Slave Device Slave Device EtherCAT Slave Controller EtherCAT Slave Controller • Process data is extracted and inserted on the fly: • Process data size per slave/node is practically unlimited (1 Bit…60 Kbyte. 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 • Supports also asynchronous, event triggered communication 7

  8. Functional Principle | Ethernet On the fly PLC Data 1 NC Data PLC Data 2 HDR 2 HDR 1 HDR 2 Master Ethernet Header ECAT HDR CRC • Minimal protocol overhead via implicit addressing • PDO Mapping moved into the slaves • Optimized telegram structure for decentralized I/O • Communication is completely managed in hardware: maximum ( and predictable) performance! • No switches needed • Ethernet-compatibility (IEE802.3) maintained • Outstanding diagnostic features 8

  9. Distributed Clocks Synchronization Precise Synchronization (<< 1 µs!) by exact adjustment of Distributed Clocks S S S S S S S  M IPC ∆t Master 9

  10. ACS EtherCAT Implementation

  11. ACS EtherCAT Implementation • One Motion Processor Unit (MPU) - executes high level tasks – communication, interface, programs, diagnostics, etc and profile generation. • One (slaved) servo processor (SPii) - executes real-time control algorithms at 20kHz. Separate Master SPiiPlusNT Controller SPiiPlusDC Controller SPii T/D Ethernet RS232 PCI MPU Pentium MPU cycle 0.125 to 1 msec SPii Z/C SPii Y/B host computer SPii X/A SPii cycle 50µsec

  12. MC4Unt Embedded Master

  13. SPiiPlusNTM Standalone Master

  14. SPiiPlusSC (Soft Controller) Master Host Application Host PC Shared or RAM TCP/IP SPiiPlusNT - Master SP Z/C/T/D SPiiPlusSC - Master MPU Pentium SP X/A/Y/B SPii

  15. EtherCAT Basics

  16. EtherCAT Basics • EtherCAT is Industrial Ethernet • EtherCAT uses standard Ethernet frames • IEEE 802.3 • EtherType 0x88A4 • IP Stack not required • Can also be done over UDP • All Internet technologies (HTTP, FTP, etc) are available without restricting real-time capabilities • EtherCAT is an open technology • Master stacks available for many real-time and non-real-time OSes • EtherCAT Slave Controller hardware available from many sources • Low cost for both large and small vendors

  17. Response with input data EtherCAT Network Data pay load:e.g. 2 Bit..6 Byte 22 Bytes 4 Bytes 12 Bytes Ethernet Header Data: ≥46 Bytes CRC IPG Master I/O Node reaction time Request with output data IPG Ethernet Header Data: ≥46 Bytes CRC

  18. EtherCAT Slave Implementation EtherCAT Slave Device EthernetApplication Real TimeApplication Standard TCP/IP Stack TCP UDP IP AcyclicData EtherCAT MAC / DLL Mailbox Process Data Ethernet PHY Ethernet PHY

  19. 16 Bit 48 -1498 Byte Header Datagram 1 Datagram 2 … Datagram n EtherCAT Telegram EtherCAT Frame Structure Standard Ethernet Frame 0..32 Byte 48 Bit 48 Bit 16 Bit 32 Bit DA SA EtherType Ethernet Daten Pad. CRC Embedded in Standard Ethernet Frame, EtherType 0x88A4 16 Bit 48 -1470 Byte 160 Bit 64 Bit Ethernet Header IP Header UDP H. Header EtherCAT Data Pad. CRC Or: via UDP/IP UDP Port 0x88A4 11 Bit 1 Bit 4 Bit Length Res. Type

  20. EtherCAT Monitoring Standard Ethernet network monitoring tools can be used • No special tools / hardware required • Open source software - Wireshark

  21. EtherCAT Addressing Three types of simple EtherCAT addressing:

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