Inovance SV660, Руководство для продвинутых пользователей

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8 Communication Configurations
8 Communication Configurations
Start
Import XML.
End
Configure PDO.
• See the corresponding host controller
documents for details.
Set system
parameters.
Configure
communication
parameters.
Start remote
node.
•
See section 8.2 for details.
•
•
•
See section 8.3 for details.
See section 8.3 for details.
Observe the communication state
according to section 8.3.7.
8.1 Overview of the EtherCAT Protocol
EtherCAT features high-performance, low cost, easy use and flexible topology. It is applicable to industrial
applications requiring ultra-high speed I/O network. EtherCAT adopts standard Ethernet physical layer
with twisted pairs or optical fibers (100Base-TX or 100Base-FX) used as the transmission media.
An EtherCAT system includes the master and the slave. The master requires a common network adapter,
and the slave requires a special slave control chip, such as ET1100, ET1200, and FPGA.
EtherCAT can process data at the I/O layer, without any subbus or gateway delay：
■
One system covers all devices, including input/output devices, sensors, actuators, drives, and
displays.
■
Transmission rate: 2 x 100 Mbit/s (high-speed Ethernet, full duplex mode).
■
Synchronization: number of nodes between two devices: 300, cable length: 120 m, synchronization
jitter: < 1 µs
■
Refresh time:
256 DI/DOs: 11 μ s
1000 DI/DOs distributed in 100 nodes:30 µs = 0.03 ms
200 AI/AOs (16-bit): 50 μs, sampling rate: 20 kHz
100 servo axes (8 byte IN+OUT for each): 100 µs = 0.1 ms
12000 DI/DOs: 350 μ s