11
EtherCAT
11.1
General
This part of the documentation describes the implemented standards and the communications of the
CMMT in an EtherCAT network. It is targeted at people who are already familiar with the bus protocol.
EtherCAT (Ethernet for Controller and Automation Technology) is a standard developed by the "Ether-
CAT Technology Group (ETG)" association. Numerous device manufacturers are members of this user
organisation. EtherCAT is an open, real-time-capable Ethernet technology that has been standardised
by the International Electrotechnical Commission (IEC).
The firmware package includes an ESI file and it is also available as a separate file in the support
portal
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11.2
ETG standards
The following specifications, among others, can be obtained from this user organisation:
–
ETG.1000.6: EtherCAT Application Layer Protocol Specification
–
ETG.1020: EtherCAT Protocol Enhancements
–
ETG.1300: EtherCAT Indicator and Labeling Specification
–
ETG.2000: EtherCAT Slave Information Specification
–
ETG.2200: EtherCAT Slave Implementation Guide
–
ETG.6010: EtherCAT Implementation Directive for CiA402 Drive Profile
User organisation:
For additional information on the user organisation "EtherCAT Technology Group (ETG)"
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EtherCAT implementation
The EtherCAT implementation of the CMMT is based on the following standards:
ETG Draft Standard
Version
Edition
1000.6
EtherCAT Application Layer Protocol Specification S (R)
V1.0.3
2013-01-03
6010
EtherCAT Implementation Directive for CiA402 Drive Pro-
file D (R)
V1.1.0
2014-11-19
Tab. 456 EtherCAT implementation
11.3
EtherCAT communication
11.3.1
Overview of EtherCAT communication and synchronisation
The graph illustrates EtherCAT communication and synchronisation of the CMMT with other network
devices (e.g. controller (Controller) and Clock Master) a the advanced "CANopen over EtherCAT (CoE)"
and "Ethernet over EtherCAT (EoE)" protocols.
EtherCAT
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Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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