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Feature Packs (Options)
• Technical Presentation
• Operating Multiple Network Segments
• FP External Synchronization
• FP Hot Connect
• FP SuperSet ENI
• FP Cable Redundancy
• FP Master Redundancy
• FP Remote Access API
• FP Master Object Dictionary
• FP EoE Endpoint API
• Network Driver for EoE Endpoint
• Feature Pack EoE Third Party Tool Support Package
• FP UDP Mailbox Gateway
• Feature Pack Split Frame Processing
V1.4 2
Overview
MasterSwitchport
3
• Use Case: Control more than one EtherCAT network with one system, e. g.,
Network 1 (NIC 1) is used for I/O bus system
Network 2 (NIC 2) is used for high speed motion (drives)
• Fully independent configuration and operation
• Identical or different link layers, up to 12 networks
• Available for Class A and Class B
Operating Multiple Network Segments
V1.4
125 usec Cycle Time
1000 usec Cycle Time
• Target Systems with multiple EtherCAT Networks require a separate runtime license for each EtherCAT network
V1.4 4
Operating Multiple Network Segments Licensing
FP External Synchronization
• Synchronizing multiple EtherCAT networks operated by multiple controllers
• Can be used for bigger machines with multiple controllers moving many axis Synchronized handling of a tool
Synchronized processing of a workpiece on a conveyor belt
Synchronized two robots
….
V1.4 6
Feature Pack External SynchronizationUse Case
7
The external synchronization feature pack allows the synchronization of two or more EtherCAT segments by a Bridge device, e. g. Beckhoff EL6695
Feature Pack External SynchronizationNetwork Architecture
The synchronization process is divided in two parts; DCM and DCX.
• DCM: Synchronize Master timer to slave. (MasterShift)
• DCX: Synchronize slaves to bridge device. (BusShift)
V1.4
8
• The Bridge has two EtherCAT connections. The primary port is connected to the primary segment; the secondary port is connected to the secondary segment. The Bridge provides an internal (primary port) and an external (secondary port) time stamp which is used by the Master to adjust the Ref-Clock.
• The Bridge device must support the “External Synchronization Status” PDO 0x10F4 see document ETG.1020 chapter “21.1.2 Synchronization by a Bridge device”.
• During startup the two segments can be powered-on at different times. That means that there will be an absolute time difference between the two segments.
Feature Pack External SynchronizationDetails
V1.4
• SDK and maintenance
• SDK 100-880-0-0 EC-Master, FP External Synchronization SDK
• Maintenance 100-881-0-0 EC-Master, FP External Synchronization Maintenance
V1.4 9
Feature Pack External SynchronizationLicensing
FP Hot Connect
Hot Connect functionality allows preconfigured sections of the network to be removed from or added to the EtherCAT network before the start or during operation of the system. E.g. Hot Connect Groups that are powered on/off or connect/disconnect while the network is in Operational.
• Important definitions: Hot Connect: Parts of an EtherCAT Network can be connected/disconnected
before start or during operation of the network
Mandatory slave: EtherCAT slave that is part of the minimum required configuration. This slave is obligatory for the proper functionality of the machine.
Optional slave: EtherCAT slave that is not obligatory for the proper functionality of the machine. Optional slaves shall be set individually as a Hot Connect group or bundled into a Hot Connect group..
V1.4 11
Feature Pack: Hot ConnectIntroduction
• Setting up a complex control system, while parts of the system are not available, powered-off or disconnected.
• ENI file hasn´t to be changed when connecting new slaves. But all optional slaves have to be configured in the ENI.
Feature Pack: Hot ConnectUse Case 1: Setting up a complex control system
Group 1
Group 2
12V1.4
MasterID
Select
ID Select
Junction Junction
Grp2
Grp1
Grp3
Grp2
Grp1
Grp3
• Flexibility within the wiring: slaves can be connected to different ports (e.g. analogue to CAN)
Feature Pack: Hot ConnectUse Case 2: Flexibility within the wiring
Master
Junction Junction
ID01
ID02
ID03
13
Master
Junction Junction
ID01
ID02
ID03
Wiring A Wiring B
V1.4
• A set of tools is available
• Only one tool at once can be connected to the EtherCAT network
• Short Boot-Up times after tool-changing are required
Feature Pack: Hot ConnectUse Case 3: Tool Changer
MasterID11
ID21
ID33
Junction Junction
Group 3
Tool C
Group 1
Tool A
Group 2
Tool B
V1.4 14
15
• Add or remove additional slave devices
• Differentiation of mandatory and optional slaves
• No wrong slaves must be connected (e.g. wrong address). If a wrong slave is connected, the network stub must been cut-off at this point by the master application.
• Network can be transferred to operational state if slaves are missing which are marked as optional.
• Network may remain operational if an optional slave fails
• The network information file (ENI) contains all slaves. (Optional slave nodes may be marked there.)
• The network has to be configured in a way that all possible slaves are connected simultaneously, even if not all slaves can be connected at once.
• The cyclic commands contain the data for all slaves.
Feature Pack: Hot ConnectFunctionality
V1.4
SDK, runtime licenses and maintenance
• Different SDK for Class A and Class B 100-801-0-0 EC-Master Class A, FP Hot Connect SDK
102-801-0-0 EC-Master Class B, FP Hot Connect SDK
• Runtime licenses 100-803-0-0 EC-Master Class A, FP Hot Connect Runtime License
102-803-0-0 EC-Master Class B, FP Hot Connect Runtime License
• Maintenance 100-802-0-0 EC-Master Class A, FP Hot Connect Maintenance, 12 months
102-802-0-0 EC-Master Class B, FP Hot Connect Maintenance, 12 months
V1.4 16
Feature Pack: Hot Connect Licensing
FP SuperSet ENI
• Handle slightly different network configurations with the same ENI file Machine Type 1 requires the slaves: A + A + B + C + A + D
Machine Type 2 requires the slaves: A + A + B + C + A
• Handle alternative slaves with the same ENI file Machine Type 1 requires the slaves: A + A + B + C + A + D
Machine Type 2 requires the slaves: A + A + B + C + A + E
• Slaves cannot be connected while network is running!
• No hot connect procedure supported!
• No slave identification required
V1.4 18
Feature Pack SuperSet ENIUse Cases
• Bus mismatch if configuration not adapted
• Adapting results in valid topology
V1.4 19
Feature Pack Superset ENIAdapt configuration for missing (optional) slaves
MASTER
1001
SLAVE
1002
SLAVE
1003
SLAVE
1004
SLAVE missing
Bus mismatch
• E.g. slave‘s type or settings at discreet position may vary
• Each description has it´s own fixed address (e.g. 9001, 9002)
V1.4 20
Feature Pack Superset ENISelect an alternative
MASTER
1001
SLAVE
9001
SLAVE
9002
SLAVE
1003
SLAVE
alternatives
Selected alternative
SDK and maintenance
• SDK 100-871-0-0 EC-Master, FP SuperSet ENI SDK
• Maintenance 100-872-0-0 EC-Master, FP SuperSet ENI Maintenance, 12 months
V1.4 21
Feature Pack SuperSet ENILicensing
FP Cable Redundancy
• Stay operational with broken cable or bad connector
• Stay operational with slave failure, e.g., power supply died, ..
• Start and stop the master operation with broken line
• Determine line breaks between Ethernet port and first/last slave as well as between two slaves
• Second EtherCAT Controller (MAC) required for EtherCAT Master
V1.4 23
Feature Pack: Cable RedundancyUse Case
Without Redundancy
• In case of a slave or cable failure the communication to some slaves is broken
Feature Pack: Cable Redundancy with two network cards
V1.4 24
Slave 2
RX TX
RXTX
Slave 1
RX TX
RXTX
EtherCAT Master
MAC 1
RX Unit TX Unit
RX TX
TXRX
JJ
Slave N
RX TX
RXTX
...
Slave N-1
RX TX
RXTX
...
L L
Slave N-2
RX TX
RXTX
With Redundancy: Normal Operation
• Second Ethernet MAC required
• Master is sending frames on both interfaces MAC1 and MAC2
• Only frames send on MAC1 are processed by slaves
Feature Pack: Cable Redundancy with two network cards
Slave 2
RX TX
RXTX
J
Slave 1
RX TX
RXTX
J
Slave N
J
RX TX
RXTX
...
EtherCAT Master
MAC 1 MAC 2
RX Unit TX Unit
...
RX TX RX TX
TXRX
Only 2nd Ethernet
Port required –
no special
Interface Card
V1.4 25
With Redundancy: Failure
• Frames send on MAC1 are processed by left part of the network
• Frames send on MAC2 are processed by right part of the network
• Master receives two frames and combines the result
• Application is notified about “line break”
Feature Pack: Cable Redundancy with two network cards
V1.4 26
Slave N
J
RX TX
RXTX
Slave N-1
J
RX TX
RXTX
Slave 2
RX TX
RXTX
Slave 1
RX TX
RXTX
...
EtherCAT Master
MAC 1 MAC 2
RX TX RX TX
RX Unit TX Unit
TXRX
J J
...
Slave N-2
RX TX
RXTX
27
• Support Junction Redundancy with Distributed Clocks
Feature Pack: Cable Redundancy with one network card
Master
Junction
• Create local ring cable redundancy using junction devices
• Stay operational in case of a break in the local ring
• Multiple local rings supported
Local Ring
V1.4
SDK, runtime licenses and maintenance
• Different SDK for Class A and Class B 100-811-0-0 EC-Master Class A, FP Cable Redundancy SDK
102-811-0-0 EC-Master Class B, FP Cable Redundancy SDK
• Runtime licenses 100-813-0-0 EC-Master Class A, FP Cable Redundancy Runtime License
102-813-0-0 EC-Master Class B, FP Cable Redundancy Runtime License
• Maintenance 100-812-0-0 EC-Master Class A, FP Cable Redundancy Maintenance
102-812-0-0 EC-Master Class B, FP Cable Redundancy Maintenance
V1.4 28
Feature Pack: Cable Redundancy Licensing
Feature Pack Master Redundancy
• Cable Redundancy hot plugging (or removal) of additional slaves is possible
Cable break: all devices are still able to work
• Hot Standby inactive master takes over active master activity, devices stay in operation
Feature Pack Master RedundancyNetwork Topology
Master
Master
Main
Main
Red
Red
V1.4 30
• ACTIVE Master sends on MAIN line
• INACTIVE Master forwards the frame from RED to MAIN line Fast packet forwarding with optimized Ethernet drivers
• ACTIVE Master receives on RED line, frames are fully processed
Feature Pack Master RedundancyRegular Frame Processing
ACTIVE INACTIVE
MAIN RED
RED MAIN
V1.4 31
• ACTIVE Master fails MAIN and RED lines are disconnected (unpowered)
• Hot Standby Former INACTIVE master takes over active master role
EtherCAT devices continue operation
• New ACTIVE Master sends/receives frames to MAIN line only Cable redundancy feature not available while first Master stays in failure
state
Feature Pack Master Redundancy Frame Processing after Failover
ACTIVE
RED
MAIN
Fail
MAIN
RED
V1.4 32
• Includes the FP Cable Redundancy
• SDK, runtime licenses and maintenance
• SDK 102-825-0-0 EC-Master Class B, FP Master Redundancy SDK
• Runtime licenses 102-827-0-0 EC-Master Class B, FP Master Redundancy Runtime License
• Maintenance 102-826-0-0 EC-Master Class B, FP Master Redundancy Maintenance
V1.4 33
Feature Pack Master RedundancyLicensing
FP Remote Access API
• Access EC-Master (use the API calls) from a remote system
Example: Access EC-Master which is running in VxWorks control system from a Notebook that is running Windows (e.g. read master or slave status)
• Access EC-Master (use the API calls) from a second process or executable
Example: Access EC-Master which is running inside a Linux controller process (control.exe) from a second Linux diagnostics process (diag.exe)
V1.4 35
Feature Pack Remote Access APIUse Cases
• Identical API for remote and local operation
• CoE, FoE, etc. mailbox services
• Remote network scan
• For sophisticated diagnostics error counters, frame counters (OD)
get slave state info
set slave/master state
• block access to critical function calls (optionally, configurable)
Feature Pack: Remote Access - Overview
Real-Time Kernel/OS
EtherCAT Application
User application, e. g., diagnosis, configuration
RAS Server (TCP)
RAS Client (TCP)
TCP/IP
Operating System
V1.4 36
• SDK, runtime licenses and maintenance
• SDK 100-821-0-0 EC-Master, FP Remote Access API SDK
• Runtime licenses 100-823-0-0 EC-Master, FP Remote Access API Runtime License
• Maintenance 100-822-0-0 EC-Master, FP Remote Access API Maintenance, 12 months
V1.4 38
Feature Pack: Remote Access APILicensing
FP Master Object Dictionary
• Customer needs all available EtherCAT diagnosis information for sophisticated communication diagnosis
for end user information (e.g. in machine controller GUI)
to put a lot of diagnostics information about communication into the cloud e. g. total number of transmitted frames, total number of lost frames, slave controller error
counters and many more
• Create own diagnosis tool running on a separate computer (similar to EC-Engineer) additionally: Feature Pack Remote Access API is required
V1.4 40
Feature Pack: Master Object DictionaryUse Case
• Access to additional diagnosis data Diagnosis History Object stores up to 250 master messages (errors, warning,
information)
Bus Diagnosis Object, e. g., frame counters for good/lost/cyclic/acyclic
Mailbox Statistics Object: Number transmitted bytes using the various mailbox protocols
Master initialization parameters
Distributed Clocks status, e. g., current deviation
Slave specific lost link and frame error counters
and many more
V1.4 41
Feature Pack: Master Object DictionaryFeatures
• According to Modular Device Profile (MDP) Profile Number 1100
V1.4 42
Feature Pack Master Object DictionaryContent overview
Index (hex) Object Dictionary Area
0x0000-0x0FFF Data Type Area
0x1000-0x1FFF Communication Area
0x8000-0x8FFF Configuration Area (Expected configuration of the EtherCAT slaves)
0x9000-0x9FFF Information Area (Detected configuration of the EtherCAT slaves)
0xA000-0xAFFF Diagnosis Area (Diagnosis of the EtherCAT slaves)
0xF000-0xFFFF Device Area
SDK and maintenance
• SDK 100-861-0-0 EC-Master, FP Master Object Dictionary SDK
• Maintenance 100-862-0-0 EC-Master, FP Master Object Dict. Maintenance
V1.4 43
Feature Pack Master Object Dictionary Licensing
Feature Pack EoE Endpoint API
• Communication between the master controller and slaves supporting the mailbox protocol Ethernet over EtherCAT (EoE)
• Transmit and receive RAW Ethernet frames
V1.4 45
Feature Pack EoE Endpoint APIUse Case
EtherCAT Master Core
46
Virtual Ethernet Switch for EoE included in EC-Master Class A and B
EtherCAT Application
EC Link Layer
Standard Ethernet MAC
Process Data Image
cycliccommands
XML ParserMailbox Services
req. resp.
acycliccommands
OS Layer
Virtual Ethernet Switch for EoE
Switch Port
Web Server
V1.4
EtherCAT Master Core
47
Feature Pack EoE Endpoint API Sending and receiving RAW Ethernet frames
EtherCAT Application
EC Link Layer
Standard Ethernet MAC
Process Data Image
cycliccommands
XML ParserMailbox Services
req. resp.
acycliccommands
OS Layer
Virtual Ethernet Switch for EoE
EoE Frame Raw Access
EoE Endpoint API
V1.4
Web Server
Feature Pack
SDK, runtime licenses and maintenance
• SDK 100-851-0-0 EC-Master, FP EoE Endpoint API SDK
• Runtime licenses 100-853-0-0 EC-Master, FP EoE Endpoint API Runtime License
• Maintenance 100-852-0-0 EC-Master, FP EoE Endpoint API Maintenance, 12 months
V1.4 48
Feature Pack EoE Endpoint API Licensing
Network Driver for EoE Endpoint
• Communication between the master controller and slaves supporting the mailbox protocol Ethernet over EtherCAT (EoE)
• Operating system specific driver to communicate via higher layer protocol, e.g., TCP/IP
• Transmit and receive data via HTTP, sockets, etc.
V1.4 50
Network Driver for EoE Endpoint APIUse Case
EtherCAT Master Core
51
Network Driver for EoE Endpoint APISystem architecture
EtherCAT Application
EC Link Layer
Standard Ethernet MAC
Process Data Image
cycliccommands
XML ParserMailbox Services
req. resp.
acycliccommands
OS Layer
Virtual Ethernet Switch for EoE
IP-Address192.168.150.1
Net ID192.168.150.x
IP-Address192.168.150.5
IP-Address192.168.150.6
OSNetwork Stack
Network Driver
V1.4
EoE Endpoint
Feature Pack EoE Endpoint API is not required
• SDK 100-280-1-1 EC-Master Linux Network Driver for EoE Endpoint, x86, 32 Bit
100-280-2-1 EC-Master Linux Network Driver for EoE Endpoint, ARM, 32 Bit
100-281-1-1 EC-Master VxWorks Network Driver for EoE Endpoint, x86, 32 Bit
100-282-1-1 EC-Master Windows Network Driver for EoE Endpoint, x86, 32 Bit
100-480-1-1 EC-Master QNX Network Driver for EoE Endpoint, x86, 32 Bit
• Runtime licenses 100-280-0-0 EC-Master Network Driver for EoE Endpoint, Runtime License
V1.4 52
Feature Pack EoE Endpoint API Licensing
Feature Pack EoE Third Party Tool Support Package
EoE Third Party Tool Support PackageUse Case
TCP/IP
User Input
Third Party drive tool can be used in parallel to standard application
Tunneling Ethernet traffic through EtherCAT network (EoE protocol)
Parameters+
Diagnosis
V1.4 54
Configure drives connected to the EtherCAT network without additional cables
55
EoE Third Party Tool Support PackageNetwork Driver for EoE Endpoint with RAS
V1.4
Real-Time Kernel/OS
EtherCAT Application
RAS Server
RAS Client (TCP)
TCP/IP
Network Driver for EoE Endpoint
• EoE Endpoint API supported by RAS-Client
• Windows EoE TAP Adapter using Endpoint API and creates a virtual network interface
56
EoE Third Party Tool Support PackageEC-EoE Gateway Application on Windows
V1.4
Real-Time Kernel/OS
EtherCAT Application
RAS Server
RAS Client (TCP)
TCP/IP
ParametersDiagnosis
Third Party Tool (Windows)
Network Driver for EoE Endpoint
EC-EoE Gateway
• EC-EoE Gateway is a helper application to enable the virtual network
• Third Party tool can use TCP/IP to communicate with slave
• EoE Endpoint API supported by RAS-Client
• Windows EoE TAP Adapter using Endpoint API and creates a virtual network interface
• Select TAP adapter used
• Select Master to connect to
• Start• EoE Gateway connects to remote
master and enables the TAP adapter
• IP-connection to remote system is available
• Any tool can then use slave devices which support EoE
EC-EoE-Gateway Application on WindowsParameter settings
IP-Address192.168.150.1
V1.4 57
SDK and maintenance
• 100-293-1-0 EC-Master FP, EoE Third Party Tool Support Package This package enables the direct access from Windows via the remote
control system to EtherCAT slaves supporting the mailbox protocol Ethernet over EtherCAT (EoE).
Package components: 1. Windows network driver for EoE over RAS
2. EC-EoE Gateway application. Graphical application to configure and enable EoEcommunication.
License Model: One-time, no royalties
• 100-294-1-0 EC-Master FP, EoE Third Party Tool Supp. Pac., Maintenance, 12 months
V1.4 58
EoE Third Party Tool Support PackageLicensing
Feature Pack UDP Mailbox Gateway
• The Mailbox Gateway functionality within a master device can be used to route the EtherCAT mailbox protocol from an (external) device configuration tool via the Mailbox Gateway to the EtherCAT devices and vice versa.
• All Mailbox protocols that are defined in the EtherCAT specification can be used in general, i.e. CoE, FoE, VoE, SoE.
• There is no error handling specified for the Mailbox Gateway functionality. A request to a non-existing slave device can lead to no response from the master.
• According to Function Guideline „ ETG.8200 EtherCAT Mailbox Gateway“
Feature Pack UDP Mailbox GatewayUse Case
V1.4 60
Mailbox Gateway Structure
Real-Time Kernel/OS
EtherCAT Application
Mailbox Gateway API
UDP
ParametersDiagnosis via CoE, SoE, FoE
Third Party Tool (e. g. on Windows)
Network Stack and Driver
Sockets
10.10.0.106
10.10.0.101
UDP-Port
0x88A4
Mailbox Services
Mailbox-Protocol CoE, SoE, FoE, VoE
• Third Party shall know the station address and the size of the mailbox of the addressed slave.
• Third Party requires an implementation of the mailbox protocol state machine, e. g., for CANopen over EtherCAT (CoE)
RAS Server
V1.4 61
Example Beckhoff TwinSAFE Loader
Real-Time Kernel/OS
UDP
SafetyConfiguration
via CoE
Beckhoff TwinSAFELoader
Network Stack and Driver
Sockets
Mailbox Services
Mailbox-Protocol CoE
• The TwinSAFE Loader software is delivered as an executable program library and is available for the Windows and Linux operating systems.
• This library can be integrated into applications.
• The various functions of the program library are controlled by corresponding command line parameters.
EtherCAT Application
Mailbox Gateway API
RAS Server
V1.4 62
SDK and maintenance
• SDK 100-895-0-0 EC-Master, FP UDP Mailbox Gateway, SDK
• Maintenance 100-896-0-0 EC-Master, FP UDP Mailbox Gateway, Maintenance, 12 months
V1.4 63
Feature Pack UDP Mailbox Gateway Licensing
Feature Pack Split Frame Processing
• Split I/O data processing into several application tasks
• Split processing of acyclic communication into a separate task
Feature Pack: Split Frame Processing
P
S
MT
App
Master: Write OutputseUsrJob_SendCycFramesByTaskId: Send cyclic frames related to a specific task ID
Master: AdministrationeUsrJob_MasterTimer: Trigger master and slave state machines
Application: Work on inputs and create output values
ASMaster: Send acyclic datagrams/commandseUsrJob_SendAcycFrames: Transmit pending acyclic frame(s).
Master: Refresh InputseUsrJob_ProcessRxFramesByTaskId: Process received data related to a specific task ID
V1.4 65
66
Feature Pack: Split Frame ProcessingNetwork Timing: Split cyclic frame processing
App 0 S0P0
Cycle time, e .g. 1 ms
Task 0
Task 1
NETW
Idle
Refresh Inputs Task 0
Write Outputs Task 0,1
Timer
Interrupt
S1
App 1
Master Administration
S0App 0P0Idle
MT
P1
Refresh Inputs Task 1
App 1P1
App 0 S0P0Idle
MT
Write Outputs Task 0
DMA
App 0 S0P0Idle
S1
V1.4
67
Feature Pack: Split Frame ProcessingNetwork Timing: Split cyclic and acyclic frame processing
App 0 S0P0
Cycle time, e .g. 1 ms
Task 0
Task 1
NETW
Idle
Refresh Inp Task 0
Write Outputs Task 0,1
Timer
Interrupt
S1
App 1
Master Administration
S0App 0P0Idle
MT
P1
Refresh Inp Task 1
Write Outputs Task 0
DMA
P1
App 0 S0P0Idle
S1
Acyclic Send
App 0 S0P0Idle
AS
Task Acyc App AP
Process acyclic
V1.4
SDK, runtime licenses and maintenance
• SDK 100-897-0-0 EC-Master, FP Split Frame Processing SDK
• Runtime licenses 100-899-0-0 EC-Master, FP Split Frame Processing Runtime License
• Maintenance 100-898-0-0 EC-Master, FP Split Frame Processing Maintenance, 12 months
V1.4 68
Feature Pack Split Frame ProcessingLicensing