EtherCAT_Compendium实用技术手册.pdf

EtherCATCompendium

Understanding.Implementing.Using.

DateContact

Date

31.07.2024

Authors

FlorianEssler,AlessandroFigini

Contributions

ChristianeHammel,KarlWeber

Contact

EtherCATTechnologyGroup,Ostendstraße196,90482Nuremberg,Germany

Contactusviacompendium@

PrefacePreface

Preface

TheEtherCATCompendiumwillprovideacomprehensive,coherentdescriptionofEtherCATwithits

•technicaldetails

•system,implementation,anduseraspects.

Itrangesfromtheformalspecificationswhilealsoreferencingtherelevantparts,tothewellreadable,

applicableandapplicationknow-how.

TheEtherCATCompendiumaimsatgenerallyinterestedreaders,developers,andsupportengineers,as

wellastestengineers,students,andacademics.

TheEtherCATCompendiumisorganizedinseveralsections.Thefirstchapterswhicharepublishedare

partofthesection“Technologydetails”.Othersectionswhichwillfolloware“EtherCATIntroduction”,

“Systemaspects”,“Implementationaspects”and“Useraspects”.

IndividualchaptersarepublishedonebyoneuntiltheyformthecompleteEtherCATCompendium.

Newchapterswillbepublishedcontinuously.ThelatestversionoftheEtherCATCompendiumcanbe

downloadedfrom/compendium.Thedateofpublicationasshownonthepreviouspage

isusedtoidentifytheEtherCATCompendiumversion.

NOTE:EtherCATMediumAccessControlandTerminology

TheEtherCATmediumaccesscontrolmethodfollowstheMainDevice/slaveprinciple:onlythemain

devicesendsframes,thesubordinatedevicesprocessthem.Whileitisconsideredethically

acceptableforoneelectronicdevicetoimposecommunicationbehavioronanotherelectronicdevice,

therearepeopleandinstitutionsthathaveconcernsabouttheuseofthesetermsintechnical

descriptionsandspecifications.Sincethisdocumentis