EtherCAT Communication
When the UBR flag is set to '0' and the UBRN flag is set to '1' the bits 0…
23 represent the baud rate as a numerical value in bits per second.
INFORMATION
When using the UBRN flag the BTR values are generated and
may deviate from the values in the baud rate table.
UBR and UBRN cannot be set at the same time!
Listen Only Mode
This mode was developed for the purpose of CAN bus monitoring without
effecting other CAN nodes. Combined with the baud rate setting it serves
the implementation of ‘hot plugging’.
With the Listen Only Mode (LOM) flag set to '0' the CAN controller works
in regular active mode using the bit rate, which implies that messages can
be received and transmitted.
Setting the LOM flag to '1' causes the CAN controller to operate in Listen
Only Mode using the bit rate and can only receive messages.
5.2 EoE
The CAN-EtherCAT supports three different EoE modes, it is selected by the master sending the
EoE configuration. (Fig. 36 and Fig. Fehler: Referenz nicht gefunden show configuration tool
samples)
5.2.1 Switch Port Mode
This is the default mode, it is enabled when no EoE configuration is received. (i.e. usually
configuration tools don't send a configuration when this mode is selected) This mode is also set
when an invalid EoE configuration is received.
Every Ethernet frame received from EtherCAT will be sent to Ethernet interface and vice versa.
5.2.2 IP Port Mode
This mode is enabled when an EoE configuration is received. The EoE configuration must contain
the IP address, subnet mask and default gateway. The MAC-Id value is ignored, the name server
is optional.
In this mode the CAN-EtherCAT also acts as DHCP server for a single DHCP client on its Ethernet
interface: The received IP configuration is offered to the DHCP client. (Therefore only one client
must be connected)
5.2.3 Local IP Port Mode
This mode is enabled when an EoE configuration is received and object 0x2000.1 (see 5.1.4.1)
was set to TRUE. As for the IP Port Mode the EoE configuration must contain the IP address,
subnet mask and default gateway. The MAC-Id value is ignored, the name server is optional.
In this mode the CAN-EtherCAT uses the received IP configuration itself – allowing access to its
Page 52 of 92
Manual • Doc. No.: C.2922.21 / Rev. 1.4
CAN-EtherCAT
