Beckhoff EtherCAT Technology Section I manuals

Owner’s manuals and user’s guides for Equipment Beckhoff EtherCAT Technology Section I.
We providing 1 pdf manuals Beckhoff EtherCAT Technology Section I for download free by document types: User Manual

Beckhoff EtherCAT Technology Section I User Manual (116 pages)

Brand: Beckhoff | Category: Equipment | Size: 1.17 MB |

DOCUMENT HISTORY

TABLES

Table 1: ESC Main Features

2 EtherCAT Protocol

Figure 3: EtherCAT Datagram

Table 3: EtherCAT Datagram

EtherCAT Protocol

2.5 EtherCAT Command Types

3 Frame Processing

EtherCAT

Slave Controller

Figure 6: Circulating Frames

5 Ethernet Physical Layer

Configuration

PHY address

Figure 8: Write access

Figure 9: Read access

Ethernet PHY

> 1mm gap between

PE and Virtual Ground

Figure 12: RJ45 Connector

Standard Ethernet

MAC (µC/FPGA)

6 EBUS/LVDS Physical Layer

7 FMMU

Logical Address Space

Physical Address Space

8 SyncManager

Channel

Master µController

9 Distributed Clocks

Drift compensation

Distributed Clocks

Local time

Propagation delay

Received System Time

0x0920:0x0927

SYNC0 Cycle Time

Start Time

Pulse Length of

SyncSignals

ESC 1 generates SyncPulse

(calculated by µC) to System

Time register of ESC 2

10 EtherCAT State Machine

11 SII EEPROM

0x5:0x6

0x8:0x9

EEPROM_SIZE

Table 43: I²C Control Byte

Table 44: I²C Write Access

EEPROM_CLK

100

EEPROM_DATA

100

12 Interrupts

102

(0x0210:0x0211)

103

(0x0200:0x0201)

103

13 Watchdogs

104

14 Error Counters

105

15 LED Signals (Indicators)

107

Table 56: LINKACT LED States

109

17 Additional Information

114

18 Appendix

116

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Beckhoff EtherCAT Technology Section I manuals

Beckhoff EtherCAT Technology Section I User Manual (116 pages)

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