EtherCAT Evaluation Kit
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1 EtherCAT Evaluation Kit
2 SLAVE
3 Evaluation Kit EL9800 V3 Le seguenti opzioni sono disponibili - SPI-Interface - SPI-Interface con PIC - 32 Bit digital - μ-controller Interface
4 Evaluation Kit EL9800 V3 La Evaluation Board EL9800 è alimentata con la 24V DC (J200) Tutte le altre tensioni sono derivate (12V, 5V, 3.3V)
5 Evaluation Kit EL9800 V3 Le funzioni di debug, per FPGA, sono attive tramite il connettore J203 I connettori J202 e TP202 riportano i medesimi segnali. In questo modo è possibile analizzare le misure dei segnali senza ritardi
6 Evaluation Kit EL9800 V3 Modi Operativi Selezionabili Position Process Data 0 OFF 1 8/16 Bit μ-controller 2 32 Bit digital interface - 32 Inputs 3 32 Bit digital interface - 32 Outputs 4 32 Bit digital interface - 16 In / 16 Out 5 32 Bit digital interface - 24 In /8 Out 6 32 Bit digital interface 8 In/ 24 Out 7 PIC (SPI) 8 SPI
7 Evaluation Kit EL9800 V3 Configurazione I/O digitali senza host control Position Process Data Port A Port B Port C Port D 2 32 In IN IN IN IN 3 32 Out OUT OUT OUT OUT 4 16 In/ 16 Out IN IN OUT OUT 5 24 In / 8Out IN IN IN OUT 6 8 In / 24 Out IN OUT OUT OUT E possibile configurare tramite lo switch SW904 i segnali di Watch Dog
8 Evaluation Kit EL9800 V3 μ-controller con interfaccia 8 /16 bit data 8/16 Bit µc Interfaccia Demultiplexed Intel Signal Types Polarity configurable (BUSY, INT) Standard µc: Intel 80x86, Infineon 80C16x, Hitachi SH1, ST10, ARM, TI TMS320 Series,
9 Evaluation Kit EL9800 V3 Configurazione con host control mediante la PIC onboard PIC24HJ128 Microchip integrata EEPROM : AT24C16A è connessa alla PIC tramite I²C-Interface
10 Evaluation Kit EL9800 V3 Serial Interfaccia (SPI) µc è Master SPI Tipici µc: Microchip PIC, DSPic, Intel 80C51, Velocità Max 10 MBaud
11 Gestione dei segnali DCs: Syncs Latches Evaluation Kit EL9800 V3
12 Evaluation Kit EL9820 La Piggyback FB implementa, tramite l ASIC ET1100, una interfaccia per slave EtherCAT per la gestione dei segnali Digitali.
13 Evaluation Kit FB X
14 Evaluation Kit FB X EtherCAT PiggyBack controller board FB X : - ET ESC - 1 EEPROM - 2 porte EtherCAT - 3 varianti con differenti interfaccie PDI : digital IO, SPI Microcontroller
15 Evaluation Kit FB X Product Code Sub Code PDI Interface Comment FB μcontroller 16/8 bit asynchronous Microcontroller FB SPI Serial Peripheral FB Digital IO 32 bit In/Out digital
16 EtherCAT Evaluation Kit EL9803 L adapter EL9803 permette l utilizzo di tutte le modalità di interfaccia in combinazione con la FB μc, - SPI, - Digital-I/O
17 Evaluation Kit FB X FB x in combinazione con EL9803 Piggyback Variant Digital IO μ-controller SPI FB X FB X FB X FB EL9803 μc-position FB EL9803 SPI-Position
18 EtherCAT Evaluation Kit μc FB EL9803 EL9800 EL9803 è integrato nella evaluation board EL9800 V3
19 EtherCAT Evaluation Kit SPI FB EL9803 EL9800 EL9803 è integrato nella evaluation board EL9800 V3
20 Evaluation Kit EL9820 EtherCAT Slave Sample Code Il codice costituisce la base di partenza per l implementazione di uno slave EtherCAT. I file sono scritti in ANSI C e supportano interfaccie SPI che parallela per μc per le seguenti gestioni : Registri EtherCAT Stati Macchina Distribuited Clock/FreeRun/SM Mailbox - CoE (CANopen over EtherCAT) - FoE (File Access over EtherCAT) - EoE (Ethernet over EtherCAT) - SoE (Servo Drive Profile over EtherCAT)
21 EtherCAT Evaluation Kit FB1120 The EtherCAT Piggyback controller board FB1120 : - Altera Cyclone I FPGA - 2 EEPROMS 1 FPGA -> EtherCAT Slave IP Core 2 configures the IP Core itself - 2 porte EtherCAT - PDI-Connector on printed.
22 Evaluation Kit EL9830 Il kit comprende: EL9800 base board, Piggyback FB1122 Accessori come Cavi, Documentazione
23 EtherCAT Evaluation Kit FB Altera Cyclone III FPGA - 2 EEPROMS 1 FPGA -> EtherCAT Slave IP Core - 2 porte EtherCAT ports - PDI : Connettore presente sul circuito
24 Evaluation Kit EL9840 Il kit comprende: EL9800 base board, Piggyback FB1130 Accessori come Cavi, Documentazione
25 EtherCAT Evaluation Kit FB Xilinx FPGA - 2 EEPROMS - JTAG-Interface - 2 porte EtherCAT - PDI : Connettore presente sul circuito
26 EtherCAT Evaluation Kit ASIC
27 EtherCAT Slave Controller Features: ASIC (1) Name ET1100 ET1200 Type ASIC ASIC Hardware Supplier Package BGA128 0,8mm Pitch QFN48 0,5mm Pitch Size 10 x 10 mm 7 x 7 mm µc Interface serial/parallel (8/16-bit, async)* serial* Digital I/O * DPRAM 8 kbyte 1 kbyte SyncManager 8 4 FMMUs 8 3 Distributed Clocks Yes Yes No. Of Ports 2-4 (MII/E-bus)* 2-3 (E-bus/max. 1xMII)* Specials Routable with standard PCB - * configurable 27
28 FPGA - ESC20 Name Type ESC20 FPGA Hardware Supplier Housing Fineline BGA256 17x17 mm No. of FMMU 4 Sync-Manager 4 RAM Distributed Clocks PDI digital I/O PDI - SPI PDI 8/16 bit µc 4 kbyte 32bit Intel No of Ports 2
29 FPGA Slave Order Number ET1800 BINARY FILE : licenza di programmazione, mediante file binario, della FPGA Altera Cyclone EP1C12F256C8 FPGA Non è necessaria se si integra la Piggyback FB1120
30 EtherCAT Slave Controller : FPGA Name ET1810/ET1811/ET1812 ET1815/ET1816/ET1817 Type FPGA + IP Core FPGA + IP Core Hardware Supplier Supported Chips Cyclone I+II+III, Stratix I+II+III+IV+GX+II GX, Arria GX Spartan 3+3E+3A+3AN+3ADSP, Virtex II+II Pro+II Pro X+4+5 Package FPGA dependent FPGA dependent Size FPGA dependent FPGA dependent µc Interface serial/parallel (8/16-bit, async) AVALON * serial/parallel (8/16bit, async) OPB * Digital I/O 8-32* 8-32* DPRAM kbyte* kbyte* SyncManager 0 8* 0 8* FMMUs 0 8* 0 8* Distributed Clocks Yes* Yes* No. Of Ports 2 (MII) 2 (MII) Specials Several IP Core License models available Several IP Core License models available * configurable 30
31 IP-Core: Opzioni di Configurazione (ET18xx) FPGA: le risorse dipendono dalla configurazioni implementate Esempi: Small Configuration:~ 6,000 LE (Altera Cyclone I) ~ 3,700 Slices (Xilinx Spartan-3E) 32Bit digital IO, 1kByte RAM, without Distributed Clocks, Small Register Set 2 FMMU, 2 SyncManager Max. Configuration: ~ 17,000 LE (Altera Cyclone I) ~ 11,000 Slices (Xilinx Spartan-3E) SPI Slave, 60kByte RAM, with Distributed Clocks, Full Register Set 8 FMMUs, 8 SyncManager Altera (LEs): DC: ~3,000, SM: ~500, FMMU: ~600 Xilinx (Slices): DC: ~1,900, SM: ~350, FMMU: ~400 31
32 IP-Core Order Number ET1810 ET1810 : EtherCAT IP-Core per Altera FPGA Node locked ET : Estensione Node Locked License (ET1810) ET : Aggiornamenti Node Locked License (ET1810)
33 IP-Core - Order Number ET1812 ET1812 : EtherCAT IP-Core per Altera FPGA Floating License ET : Estensione Floating License (ET1812) ET : Aggiornamenti Floating License
34 IP-Core Order Number ET1815 ET1815 : EtherCAT IP-Core per Xilinx FPGA Node locked ET : Estensione Node Locked License (ET1815) ET : Aggiornamenti of the Node Locked License (ET1815)
35 IP-Core Order Number ET1817 ET1817 : EtherCAT IP-Core per XILINX FPGA Floating License ET : Estensione Floating License (ET181x) ET : Aggiornamenti Floating License
36 IP-Core Order Number ET181x ET181x :one-time kick-off charge per licenza node-locked Configura l EtherCAT IP cores per una workstation; ET181x-1000: royalties per 1,000 dispositivi, ET181x richiesto ET181x-0020: un anno di assistenza, ET181x richiesto ET : licenza per system integrator OEM, ET1811 o ET1816 richiesto X = 1 => ALTERA X = 6 => XILINX
37 SAFETY
38 Safety over EtherCAT: Software Architecture Black channel approach with safety and non-safety data on the same bus Device 1 Device 2 Safety Application Safety Application Standard Application Standard Application Safety over EtherCAT Protocol Safety over EtherCAT Protocol Safety over EtherCAT EtherCAT Communication Interface EtherCAT Communication Interface EtherCAT DLL and AL EtherCAT Telegram Safety data container (FSoE Frame) 38
39 Safety over EtherCAT: Hardware Architecture One channel communication system Model A according to IEC Annex A Device 1 Device 2 Controller A Safety Protocol Controller A Safety Protocol Controller B Safety Protocol Controller B Safety Protocol Controller B Safety Protocol Controller A Safety Protocol Controller A Safety Protocol Controller B Safety Protocol EtherCAT Slave Controller EtherCAT Slave Controller PHY PHY PHY PHY Trafo Trafo Trafo Trafo RJ45 RJ45 RJ45 RJ45 39
40 Safety over EtherCAT ET1902 : Licenza Safety over EtherCAT Slave Licenza per produrre dispositivi Safety over EtherCAT Specifiche Tecniche Safety over EtherCAT Livello applicativo per verifica Safety over EtherCAT Introduzione alla Tecnologia ET1903 : Licenza Safety over EtherCAT Master Licenza per produrre dispositivi Safety over EtherCAT Specifiche Tecniche Safety over EtherCAT Livello applicativo per verifica Safety over EtherCAT Introduzione alla Tecnologia
41 MASTER
42 Master Sample Code - ET9200 L EtherCAT Master Sample Code è una applicazione che lavora in user mode per ambiente Windows. Caratteristiche: Boot-up e Configurazione Slaves Invio/ricezione Ethernet raw frames dalla scheda di rete Gestione degli stati macchina di EtherCAT Invio comandi di inizializzazione slaves Comunicazione tramite Mailbox (CoE/SoE/FoE/EoE/AoE...) Integrazione funzione virtual switch Gestione Process Data Ciclici DC Clocks Il Master Sample Code è fornito come codice integrabile ed adattabile per diversi ambienti Real Time (RTOS) e piattaforme hardware (Ethernet Controller).
43 EtherCAT è semplice da implementare: Master Implementazione Master : e.g. Master Sample Code (Source) EtherCAT Configuration Tool XML Data format di ESI / ENI EtherCAT Configuration Tool Process Data (PD) Image description Application Realtime.xml.xml Parser Process Data Image Mailbox Services EtherCAT Slave Information (ESI) Files EtherCAT Network Information (ENI) File init cyclic commands req. resp. acyclic commands optional; for online functionality (e.g. scanning for devices) Realtime EtherCAT Master Driver Ethernet Frames Network Driver Standard Ethernet MAC 43
44 EtherCAT è una Tecnologia Aperta Master Stacks sono disponibili per differenti RTOS *, incluse le versioni sorgenti Open / Shared! ecos INTEGRTY Intime Linux with RT-Preempt MICROWARE OS-9 MQX On Time RTOS-32 PikeOS Proconos OS QNX Real-Time Java RMOS RT Kernel RT-Linux RTX RTXC RTAI Linux VxWin + CeWin+ RTOS32Win+LxWin VxWorks Windows CE Windows XP/XPE with CoDeSys SP RTE Windows XP/XPE with TwinCAT RT-Extension Windows Vista, 7 XENOMAI Linux XOberon/PowerPC *as of Nov
45 Documentazione
46 Documentation
47 EtherCAT Il Fieldbus per Ethernet Per informazioni visita il sito Web EtherCAT Technology Group ETG Headquarters Ostendstr Nuremberg, Germany Phone:
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