Mailbox communication
2)
Emergency communication
Process data communication
1)
SDO communication
SDO Information communication
EtherCAT Synchronisation
Ethernet over EtherCAT communication
Clock Master
(Slave)
3)
Sync manager
Sync manager 0/1
Sync manager 2/3
Distributed clocks
CMMT
(Slave)
Controller
(Master)
Ref clocks
DC Time
CoE
ESC
Process
data
4)
Mail-
box
5)
Process data object request
Process data object response
Service data object response
Service data object request
Abort SDO transfer request
Emergency request
Get OD list response/Get object description request/Entry descriplion request/SDO info error request
Get OD list request/Get object description request/Entry descriplion request
EoE response
EoE request
EoE
Ref Time
EtherCAT communication
Sync manager 0/1
Fig. 104 Overview: EtherCAT communication and synchronisation
1)
cyclical transmission
2)
acyclical transmission
3)
first DC-capable slave in the EtherCAT network
4)
internal memory for process data
5)
internal memory for mailbox data
EtherCAT communication and synchronisation
Info
EtherCAT bus
è
Topology
è
Ports
è
Termination
è
EtherCAT
516
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
Page 615: ......
