Control Wiring
ANCA Motion
DS619-0-00-0019 - Rev 0
63
7
AMD2000 functions as an EtherCAT slave controller, providing two ports (IN/OUT) for connection to other
EtherCAT compliant equipment. This allows nodes to be connected in many configurations such as a ring, star,
or tree, with EtherCAT’s self-terminating technology automatically detecting breaks or an intended end of line.
If only one port is used for EtherCAT operation, it must be the X1 (IN) port.
7.6.12
EtherCAT topology / Port assignment
Loopback
Function
EtherCAT
Processing Unit
EtherCAT
Slave Controller
Port 0
Closed
Port 0 open
or all ports
closed
Auto-
forwarder
Loopback
Function
Loopback
Function
Port 1
Closed
Auto-
forwarder
Loopback
Function
In
Out
Port 3
Closed
Port 2
Closed
Port 1
Open
Possible EtherCAT Configurations are
7.6.12.1
IN
O
U
T
IN
IN
IN
IN
IN
IN
IN
IN
O
U
T
O
U
T
O
U
T
O
U
T
O
U
T
O
U
T
O
U
T
O
U
T
Et
h
er
C
A
t
M
as
te
r
1
2
3
4
5
6
7
8
9
Straight Line Topology EtherCAT Network:
IN
O
U
T
IN
IN
IN
IN
IN
IN
IN
IN
O
U
T
O
U
T
O
U
T
O
U
T
O
U
T
O
U
T
O
U
T
O
U
T
Et
h
e
rC
A
t
M
as
te
r
1
2
3
4
5
6
7
8
9
Ring Topology EtherCAT network:
