EC-Master Feature Packs - acontis

Feature Packs (Options)

• Technical Presentation

• Operating Multiple Network Segments

• FP External Synchronization

• FP Hot Connect

• FP SuperSet ENI

• FP Cable Redundancy

• FP Master Redundancy

• FP Remote Access API

• FP Master Object Dictionary

• FP EoE Endpoint API

• Network Driver for EoE Endpoint

• Feature Pack EoE Third Party Tool Support Package

• FP UDP Mailbox Gateway

• Feature Pack Split Frame Processing

V1.4 2

Overview

MasterSwitchport

3

• Use Case: Control more than one EtherCAT network with one system, e. g.,

Network 1 (NIC 1) is used for I/O bus system

Network 2 (NIC 2) is used for high speed motion (drives)

• Fully independent configuration and operation

• Identical or different link layers, up to 12 networks

• Available for Class A and Class B

Operating Multiple Network Segments

V1.4

125 usec Cycle Time

1000 usec Cycle Time

• Target Systems with multiple EtherCAT Networks require a separate runtime license for each EtherCAT network

V1.4 4

Operating Multiple Network Segments Licensing

FP External Synchronization

• Synchronizing multiple EtherCAT networks operated by multiple controllers

• Can be used for bigger machines with multiple controllers moving many axis Synchronized handling of a tool

Synchronized processing of a workpiece on a conveyor belt

Synchronized two robots

….

V1.4 6

Feature Pack External SynchronizationUse Case

7

The external synchronization feature pack allows the synchronization of two or more EtherCAT segments by a Bridge device, e. g. Beckhoff EL6695

Feature Pack External SynchronizationNetwork Architecture

The synchronization process is divided in two parts; DCM and DCX.

• DCM: Synchronize Master timer to slave. (MasterShift)

• DCX: Synchronize slaves to bridge device. (BusShift)

V1.4

8

• The Bridge has two EtherCAT connections. The primary port is connected to the primary segment; the secondary port is connected to the secondary segment. The Bridge provides an internal (primary port) and an external (secondary port) time stamp which is used by the Master to adjust the Ref-Clock.

• The Bridge device must support the “External Synchronization Status” PDO 0x10F4 see document ETG.1020 chapter “21.1.2 Synchronization by a Bridge device”.

• During startup the two segments can be powered-on at different times. That means that there will be an absolute time difference between the two segments.

Feature Pack External SynchronizationDetails

V1.4

• SDK and maintenance

• SDK 100-880-0-0 EC-Master, FP External Synchronization SDK

• Maintenance 100-881-0-0 EC-Master, FP External Synchronization Maintenance

V1.4 9

Feature Pack External SynchronizationLicensing

FP Hot Connect

Hot Connect functionality allows preconfigured sections of the network to be removed from or added to the EtherCAT network before the start or during operation of the system. E.g. Hot Connect Groups that are powered on/off or connect/disconnect while the network is in Operational.

• Important definitions: Hot Connect: Parts of an EtherCAT Network can be connected/disconnected

before start or during operation of the network

Mandatory slave: EtherCAT slave that is part of the minimum required configuration. This slave is obligatory for the proper functionality of the machine.

Optional slave: EtherCAT slave that is not obligatory for the proper functionality of the machine. Optional slaves shall be set individually as a Hot Connect group or bundled into a Hot Connect group..

V1.4 11

Feature Pack: Hot ConnectIntroduction

• Setting up a complex control system, while parts of the system are not available, powered-off or disconnected.

• ENI file hasn´t to be changed when connecting new slaves. But all optional slaves have to be configured in the ENI.

Feature Pack: Hot ConnectUse Case 1: Setting up a complex control system

Group 1

Group 2

12V1.4

MasterID

Select

ID Select

Junction Junction

Grp2

Grp1

Grp3

Grp2

Grp1

Grp3

• Flexibility within the wiring: slaves can be connected to different ports (e.g. analogue to CAN)

Feature Pack: Hot ConnectUse Case 2: Flexibility within the wiring

Master

Junction Junction

ID01

ID02

ID03

13

Master

Junction Junction

ID01

ID02

ID03

Wiring A Wiring B

V1.4

• A set of tools is available

• Only one tool at once can be connected to the EtherCAT network

• Short Boot-Up times after tool-changing are required

Feature Pack: Hot ConnectUse Case 3: Tool Changer

MasterID11

ID21

ID33

Junction Junction

Group 3

Tool C

Group 1

Tool A

Group 2

Tool B

V1.4 14

15

• Add or remove additional slave devices

• Differentiation of mandatory and optional slaves

• No wrong slaves must be connected (e.g. wrong address). If a wrong slave is connected, the network stub must been cut-off at this point by the master application.

• Network can be transferred to operational state if slaves are missing which are marked as optional.

• Network may remain operational if an optional slave fails

• The network information file (ENI) contains all slaves. (Optional slave nodes may be marked there.)

• The network has to be configured in a way that all possible slaves are connected simultaneously, even if not all slaves can be connected at once.

• The cyclic commands contain the data for all slaves.

Feature Pack: Hot ConnectFunctionality

V1.4

SDK, runtime licenses and maintenance

• Different SDK for Class A and Class B 100-801-0-0 EC-Master Class A, FP Hot Connect SDK

102-801-0-0 EC-Master Class B, FP Hot Connect SDK

• Runtime licenses 100-803-0-0 EC-Master Class A, FP Hot Connect Runtime License

102-803-0-0 EC-Master Class B, FP Hot Connect Runtime License

• Maintenance 100-802-0-0 EC-Master Class A, FP Hot Connect Maintenance, 12 months

102-802-0-0 EC-Master Class B, FP Hot Connect Maintenance, 12 months

V1.4 16

Feature Pack: Hot Connect Licensing

FP SuperSet ENI

• Handle slightly different network configurations with the same ENI file Machine Type 1 requires the slaves: A + A + B + C + A + D

Machine Type 2 requires the slaves: A + A + B + C + A

• Handle alternative slaves with the same ENI file Machine Type 1 requires the slaves: A + A + B + C + A + D

Machine Type 2 requires the slaves: A + A + B + C + A + E

• Slaves cannot be connected while network is running!

• No hot connect procedure supported!

• No slave identification required

V1.4 18

Feature Pack SuperSet ENIUse Cases

• Bus mismatch if configuration not adapted

• Adapting results in valid topology

V1.4 19

Feature Pack Superset ENIAdapt configuration for missing (optional) slaves

MASTER

1001

SLAVE

1002

SLAVE

1003

SLAVE

1004

SLAVE missing

Bus mismatch

• E.g. slave‘s type or settings at discreet position may vary

• Each description has it´s own fixed address (e.g. 9001, 9002)

V1.4 20

Feature Pack Superset ENISelect an alternative

MASTER

1001

SLAVE

9001

SLAVE

9002

SLAVE

1003

SLAVE

alternatives

Selected alternative

SDK and maintenance

• SDK 100-871-0-0 EC-Master, FP SuperSet ENI SDK

• Maintenance 100-872-0-0 EC-Master, FP SuperSet ENI Maintenance, 12 months

V1.4 21

Feature Pack SuperSet ENILicensing

FP Cable Redundancy

• Stay operational with broken cable or bad connector

• Stay operational with slave failure, e.g., power supply died, ..

• Start and stop the master operation with broken line

• Determine line breaks between Ethernet port and first/last slave as well as between two slaves

• Second EtherCAT Controller (MAC) required for EtherCAT Master

V1.4 23

Feature Pack: Cable RedundancyUse Case

Without Redundancy

• In case of a slave or cable failure the communication to some slaves is broken

Feature Pack: Cable Redundancy with two network cards

V1.4 24

Slave 2

RX TX

RXTX

Slave 1

RX TX

RXTX

EtherCAT Master

MAC 1

RX Unit TX Unit

RX TX

TXRX

JJ

Slave N

RX TX

RXTX

...

Slave N-1

RX TX

RXTX

...

L L

Slave N-2

RX TX

RXTX

With Redundancy: Normal Operation

• Second Ethernet MAC required

• Master is sending frames on both interfaces MAC1 and MAC2

• Only frames send on MAC1 are processed by slaves


Slave 2

RX TX

RXTX

J

Slave 1

RX TX

RXTX

J

Slave N

J

RX TX

RXTX

...

EtherCAT Master

MAC 1 MAC 2

RX Unit TX Unit

...

RX TX RX TX

TXRX

Only 2nd Ethernet

Port required –

no special

Interface Card

V1.4 25

With Redundancy: Failure

• Frames send on MAC1 are processed by left part of the network

• Frames send on MAC2 are processed by right part of the network

• Master receives two frames and combines the result

• Application is notified about “line break”


V1.4 26

Slave N

J

RX TX

RXTX

Slave N-1

J

RX TX

RXTX

Slave 2

RX TX

RXTX

Slave 1

RX TX

RXTX

...

EtherCAT Master

MAC 1 MAC 2

RX TX RX TX

RX Unit TX Unit

TXRX

J J

...

Slave N-2

RX TX

RXTX

27

• Support Junction Redundancy with Distributed Clocks

Feature Pack: Cable Redundancy with one network card

Master

Junction

• Create local ring cable redundancy using junction devices

• Stay operational in case of a break in the local ring

• Multiple local rings supported

Local Ring

V1.4


• Different SDK for Class A and Class B 100-811-0-0 EC-Master Class A, FP Cable Redundancy SDK

102-811-0-0 EC-Master Class B, FP Cable Redundancy SDK

• Runtime licenses 100-813-0-0 EC-Master Class A, FP Cable Redundancy Runtime License

102-813-0-0 EC-Master Class B, FP Cable Redundancy Runtime License

• Maintenance 100-812-0-0 EC-Master Class A, FP Cable Redundancy Maintenance

102-812-0-0 EC-Master Class B, FP Cable Redundancy Maintenance

V1.4 28

Feature Pack: Cable Redundancy Licensing

Feature Pack Master Redundancy

• Cable Redundancy hot plugging (or removal) of additional slaves is possible

Cable break: all devices are still able to work

• Hot Standby inactive master takes over active master activity, devices stay in operation

Feature Pack Master RedundancyNetwork Topology

Master

Master

Main

Main

Red

Red

V1.4 30

• ACTIVE Master sends on MAIN line

• INACTIVE Master forwards the frame from RED to MAIN line Fast packet forwarding with optimized Ethernet drivers

• ACTIVE Master receives on RED line, frames are fully processed

Feature Pack Master RedundancyRegular Frame Processing

ACTIVE INACTIVE

MAIN RED

RED MAIN

V1.4 31

• ACTIVE Master fails MAIN and RED lines are disconnected (unpowered)

• Hot Standby Former INACTIVE master takes over active master role

EtherCAT devices continue operation

• New ACTIVE Master sends/receives frames to MAIN line only Cable redundancy feature not available while first Master stays in failure

state

Feature Pack Master Redundancy Frame Processing after Failover

ACTIVE

RED

MAIN

Fail

MAIN

RED

V1.4 32

• Includes the FP Cable Redundancy

• SDK, runtime licenses and maintenance

• SDK 102-825-0-0 EC-Master Class B, FP Master Redundancy SDK

• Runtime licenses 102-827-0-0 EC-Master Class B, FP Master Redundancy Runtime License

• Maintenance 102-826-0-0 EC-Master Class B, FP Master Redundancy Maintenance

V1.4 33

Feature Pack Master RedundancyLicensing

FP Remote Access API

• Access EC-Master (use the API calls) from a remote system

Example: Access EC-Master which is running in VxWorks control system from a Notebook that is running Windows (e.g. read master or slave status)

• Access EC-Master (use the API calls) from a second process or executable

Example: Access EC-Master which is running inside a Linux controller process (control.exe) from a second Linux diagnostics process (diag.exe)

V1.4 35

Feature Pack Remote Access APIUse Cases

• Identical API for remote and local operation

• CoE, FoE, etc. mailbox services

• Remote network scan

• For sophisticated diagnostics error counters, frame counters (OD)

get slave state info

set slave/master state

• block access to critical function calls (optionally, configurable)

Feature Pack: Remote Access - Overview

Real-Time Kernel/OS

EtherCAT Application

User application, e. g., diagnosis, configuration

RAS Server (TCP)

RAS Client (TCP)

TCP/IP

Operating System

V1.4 36

• SDK, runtime licenses and maintenance

• SDK 100-821-0-0 EC-Master, FP Remote Access API SDK

• Runtime licenses 100-823-0-0 EC-Master, FP Remote Access API Runtime License

• Maintenance 100-822-0-0 EC-Master, FP Remote Access API Maintenance, 12 months

V1.4 38

Feature Pack: Remote Access APILicensing

FP Master Object Dictionary

• Customer needs all available EtherCAT diagnosis information for sophisticated communication diagnosis

for end user information (e.g. in machine controller GUI)

to put a lot of diagnostics information about communication into the cloud e. g. total number of transmitted frames, total number of lost frames, slave controller error

counters and many more

• Create own diagnosis tool running on a separate computer (similar to EC-Engineer) additionally: Feature Pack Remote Access API is required

V1.4 40

Feature Pack: Master Object DictionaryUse Case

• Access to additional diagnosis data Diagnosis History Object stores up to 250 master messages (errors, warning,

information)

Bus Diagnosis Object, e. g., frame counters for good/lost/cyclic/acyclic

Mailbox Statistics Object: Number transmitted bytes using the various mailbox protocols

Master initialization parameters

Distributed Clocks status, e. g., current deviation

Slave specific lost link and frame error counters

and many more

V1.4 41

Feature Pack: Master Object DictionaryFeatures

• According to Modular Device Profile (MDP) Profile Number 1100

V1.4 42

Feature Pack Master Object DictionaryContent overview

Index (hex) Object Dictionary Area

0x0000-0x0FFF Data Type Area

0x1000-0x1FFF Communication Area

0x8000-0x8FFF Configuration Area (Expected configuration of the EtherCAT slaves)

0x9000-0x9FFF Information Area (Detected configuration of the EtherCAT slaves)

0xA000-0xAFFF Diagnosis Area (Diagnosis of the EtherCAT slaves)

0xF000-0xFFFF Device Area

SDK and maintenance

• SDK 100-861-0-0 EC-Master, FP Master Object Dictionary SDK

• Maintenance 100-862-0-0 EC-Master, FP Master Object Dict. Maintenance

V1.4 43

Feature Pack Master Object Dictionary Licensing

Feature Pack EoE Endpoint API

• Communication between the master controller and slaves supporting the mailbox protocol Ethernet over EtherCAT (EoE)

• Transmit and receive RAW Ethernet frames

V1.4 45

Feature Pack EoE Endpoint APIUse Case

EtherCAT Master Core

46

Virtual Ethernet Switch for EoE included in EC-Master Class A and B


EC Link Layer

Standard Ethernet MAC

Process Data Image

cycliccommands

XML ParserMailbox Services

req. resp.

acycliccommands

OS Layer

Virtual Ethernet Switch for EoE

Switch Port

Web Server

V1.4


47

Feature Pack EoE Endpoint API Sending and receiving RAW Ethernet frames


EC Link Layer


Process Data Image

cycliccommands


req. resp.

acycliccommands

OS Layer


EoE Frame Raw Access

EoE Endpoint API

V1.4

Web Server

Feature Pack


• SDK 100-851-0-0 EC-Master, FP EoE Endpoint API SDK

• Runtime licenses 100-853-0-0 EC-Master, FP EoE Endpoint API Runtime License

• Maintenance 100-852-0-0 EC-Master, FP EoE Endpoint API Maintenance, 12 months

V1.4 48

Feature Pack EoE Endpoint API Licensing

Network Driver for EoE Endpoint

• Communication between the master controller and slaves supporting the mailbox protocol Ethernet over EtherCAT (EoE)

• Operating system specific driver to communicate via higher layer protocol, e.g., TCP/IP

• Transmit and receive data via HTTP, sockets, etc.

V1.4 50

Network Driver for EoE Endpoint APIUse Case


51

Network Driver for EoE Endpoint APISystem architecture


EC Link Layer


Process Data Image

cycliccommands


req. resp.

acycliccommands

OS Layer


IP-Address192.168.150.1

Net ID192.168.150.x

IP-Address192.168.150.5

IP-Address192.168.150.6

OSNetwork Stack

Network Driver

V1.4

EoE Endpoint

Feature Pack EoE Endpoint API is not required

• SDK 100-280-1-1 EC-Master Linux Network Driver for EoE Endpoint, x86, 32 Bit

100-280-2-1 EC-Master Linux Network Driver for EoE Endpoint, ARM, 32 Bit

100-281-1-1 EC-Master VxWorks Network Driver for EoE Endpoint, x86, 32 Bit

100-282-1-1 EC-Master Windows Network Driver for EoE Endpoint, x86, 32 Bit

100-480-1-1 EC-Master QNX Network Driver for EoE Endpoint, x86, 32 Bit

• Runtime licenses 100-280-0-0 EC-Master Network Driver for EoE Endpoint, Runtime License

V1.4 52

Feature Pack EoE Endpoint API Licensing

Feature Pack EoE Third Party Tool Support Package

EoE Third Party Tool Support PackageUse Case

TCP/IP

User Input

Third Party drive tool can be used in parallel to standard application

Tunneling Ethernet traffic through EtherCAT network (EoE protocol)

Parameters+

Diagnosis

V1.4 54

Configure drives connected to the EtherCAT network without additional cables

55

EoE Third Party Tool Support PackageNetwork Driver for EoE Endpoint with RAS

V1.4

Real-Time Kernel/OS


RAS Server

RAS Client (TCP)

TCP/IP


• EoE Endpoint API supported by RAS-Client

• Windows EoE TAP Adapter using Endpoint API and creates a virtual network interface

56

EoE Third Party Tool Support PackageEC-EoE Gateway Application on Windows

V1.4

Real-Time Kernel/OS


RAS Server

RAS Client (TCP)

TCP/IP

ParametersDiagnosis

Third Party Tool (Windows)


EC-EoE Gateway

• EC-EoE Gateway is a helper application to enable the virtual network

• Third Party tool can use TCP/IP to communicate with slave

• EoE Endpoint API supported by RAS-Client

• Windows EoE TAP Adapter using Endpoint API and creates a virtual network interface

• Select TAP adapter used

• Select Master to connect to

• Start• EoE Gateway connects to remote

master and enables the TAP adapter

• IP-connection to remote system is available

• Any tool can then use slave devices which support EoE

EC-EoE-Gateway Application on WindowsParameter settings

IP-Address192.168.150.1

V1.4 57

SDK and maintenance

• 100-293-1-0 EC-Master FP, EoE Third Party Tool Support Package This package enables the direct access from Windows via the remote

control system to EtherCAT slaves supporting the mailbox protocol Ethernet over EtherCAT (EoE).

Package components: 1. Windows network driver for EoE over RAS

2. EC-EoE Gateway application. Graphical application to configure and enable EoEcommunication.

License Model: One-time, no royalties

• 100-294-1-0 EC-Master FP, EoE Third Party Tool Supp. Pac., Maintenance, 12 months

V1.4 58

EoE Third Party Tool Support PackageLicensing

Feature Pack UDP Mailbox Gateway

• The Mailbox Gateway functionality within a master device can be used to route the EtherCAT mailbox protocol from an (external) device configuration tool via the Mailbox Gateway to the EtherCAT devices and vice versa.

• All Mailbox protocols that are defined in the EtherCAT specification can be used in general, i.e. CoE, FoE, VoE, SoE.

• There is no error handling specified for the Mailbox Gateway functionality. A request to a non-existing slave device can lead to no response from the master.

• According to Function Guideline „ ETG.8200 EtherCAT Mailbox Gateway“

Feature Pack UDP Mailbox GatewayUse Case

V1.4 60

Mailbox Gateway Structure

Real-Time Kernel/OS


Mailbox Gateway API

UDP

ParametersDiagnosis via CoE, SoE, FoE

Third Party Tool (e. g. on Windows)

Network Stack and Driver

Sockets

10.10.0.106

10.10.0.101

UDP-Port

0x88A4

Mailbox Services

Mailbox-Protocol CoE, SoE, FoE, VoE

• Third Party shall know the station address and the size of the mailbox of the addressed slave.

• Third Party requires an implementation of the mailbox protocol state machine, e. g., for CANopen over EtherCAT (CoE)

RAS Server

V1.4 61

Example Beckhoff TwinSAFE Loader

Real-Time Kernel/OS

UDP

SafetyConfiguration

via CoE

Beckhoff TwinSAFELoader

Network Stack and Driver

Sockets

Mailbox Services

Mailbox-Protocol CoE

• The TwinSAFE Loader software is delivered as an executable program library and is available for the Windows and Linux operating systems.

• This library can be integrated into applications.

• The various functions of the program library are controlled by corresponding command line parameters.


Mailbox Gateway API

RAS Server

V1.4 62

SDK and maintenance

• SDK 100-895-0-0 EC-Master, FP UDP Mailbox Gateway, SDK

• Maintenance 100-896-0-0 EC-Master, FP UDP Mailbox Gateway, Maintenance, 12 months

V1.4 63

Feature Pack UDP Mailbox Gateway Licensing

Feature Pack Split Frame Processing

• Split I/O data processing into several application tasks

• Split processing of acyclic communication into a separate task

Feature Pack: Split Frame Processing

P

S

MT

App

Master: Write OutputseUsrJob_SendCycFramesByTaskId: Send cyclic frames related to a specific task ID

Master: AdministrationeUsrJob_MasterTimer: Trigger master and slave state machines

Application: Work on inputs and create output values

ASMaster: Send acyclic datagrams/commandseUsrJob_SendAcycFrames: Transmit pending acyclic frame(s).

Master: Refresh InputseUsrJob_ProcessRxFramesByTaskId: Process received data related to a specific task ID

V1.4 65

66

Feature Pack: Split Frame ProcessingNetwork Timing: Split cyclic frame processing

App 0 S0P0

Cycle time, e .g. 1 ms

Task 0

Task 1

NETW

Idle

Refresh Inputs Task 0

Write Outputs Task 0,1

Timer

Interrupt

S1

App 1

Master Administration

S0App 0P0Idle

MT

P1

Refresh Inputs Task 1

App 1P1

App 0 S0P0Idle

MT

Write Outputs Task 0

DMA

App 0 S0P0Idle

S1

V1.4

67

Feature Pack: Split Frame ProcessingNetwork Timing: Split cyclic and acyclic frame processing

App 0 S0P0

Cycle time, e .g. 1 ms

Task 0

Task 1

NETW

Idle

Refresh Inp Task 0

Write Outputs Task 0,1

Timer

Interrupt

S1

App 1

Master Administration

S0App 0P0Idle

MT

P1

Refresh Inp Task 1

Write Outputs Task 0

DMA

P1

App 0 S0P0Idle

S1

Acyclic Send

App 0 S0P0Idle

AS

Task Acyc App AP

Process acyclic

V1.4


• SDK 100-897-0-0 EC-Master, FP Split Frame Processing SDK

• Runtime licenses 100-899-0-0 EC-Master, FP Split Frame Processing Runtime License

• Maintenance 100-898-0-0 EC-Master, FP Split Frame Processing Maintenance, 12 months

V1.4 68

Feature Pack Split Frame ProcessingLicensing

Documents

EC-Master Feature Packs - acontis