EtherCAT

34

..
Highlights
Ethernet up to the terminal –

..complete continuity
Ethernet process interface scalable

..from 1 bit to 64 kbyte

..Ethernet solution for the field level

Exact timing and adapted
to synchronisation
EtherCAT

EtherCAT
The real-time Ethernet fieldbus 35

u www.beckhoff.com/EtherCAT

36 Product overview 46 EtherCAT technologies EtherCAT components

38 System description
44 System overview 46 EtherCAT P 1 16 Industrial PC
50 XFC 1 ​180 Embedded PC
65 Safety over EtherCAT 68​ EtherCAT Terminal
230 EtherCAT Box
336 EtherCAT Plug-in Modules
570 Infrastructure Components
56 EtherCAT Development 1 328 EtherCAT Servo Drives
Products 1 444 TwinCAT
1 530 TwinSAFE
592 Accessories
 Product overview EtherCAT components
EtherCAT

36

EtherCAT components

PC-based Control EtherCAT Terminal EtherCAT Box EtherCAT P Box

Industrial CPxxxx 1 30​ Couplers EK1xxx 92 Digital I/O EP1xxx, 250 Digital I/O EPP1xxx 296​
PCs Panel PCs EtherCAT Coupler E-bus EQ1xxx, ER1xxx* digital input

(EtherCAT masters) digital input

BK1xxx 101 EP2xxx, 257 EPP2xxx ​302

Cxxxx 1 86 EtherCAT Coupler EQ2xxx, ER2xxx* digital output

control cabinet PCs K-bus digital output

(EtherCAT masters) EP23xx, 264 EPP23xx ​308

EKxxxx 102 EQ23xx, ER23xx* digital combi

Bus Coupler digital combi

for EtherCAT Terminals Analog I/O EPP3xxx ​314

Embedded CXxxxx 1 ​180 Analog I/O EP3xxx, 270 analog input

PCs Embedded PCs Digital I/O EL1xxx 106 EQ3xxx, ER3xxx*

(EtherCAT masters) digital input analog input EPP4xxx ​318
EP4xxx, 277 analog output

EL2xxx 118 ER4xxx*

Software TwinCAT 1 444 digital output analog output Special EPP5xxx ​319
PLC/Motion EtherCAT masters and functions position measurement

Control development environment Analog I/O EL3xxx 138 Special EP5xxx, 278 EPP6xxx ​321
analog input functions ER5xxx* communication

position measurement EPP7xxx ​323

EL4xxx 176 EP6xxx, 281 motion

Safety TwinSAFE 1 530​​ analog output ER6xxx*

open and scalable communication System EPP1111 325
control technology Special EL5xxx 184 EP7xxx, 283 3 decimal ID switches

functions position measurement ER7xxx* EPP9001 327

motion EtherCAT P/EtherCAT

EL6xxx 189 EP8xxx, ​287 connector with

Redun- TwinCAT 1 515 communication ER8xxx* power transmission

dancy EtherCAT multi-functional I/O box EPP9022 327

Redundancy EL7xxx 209 ​2 x diagnostics (US, UP)

extension of the EtherCAT motion System EP1111 ​288 EPP1322 ​326

master with cable EtherCAT Box with ID switch ​​3 ports, with feed-in

redundancy capability System EL9xxx 216 EP1122 288 EPP1332 ​326

system terminals 2-port EtherCAT junction ​​3 ports, with refresh

EP9214, 290 EPP1342 ​326

EP9224 ​​3 ports

4/4-channel power distribu-

tion for EtherCAT Box modules

*EPxxxx: industrial housing in IP 67, EQxxxx: stainless steel housing in IP 69K, ERxxxx: zinc die-cast housing in IP 67

We reserve the right to make technical changes.

 EtherCAT
37

EtherCAT Plug-in Modules Fieldbus Box Infrastructure Components Drive Technology

Couplers EJ1100 343 Fieldbus IL230x-B110 519 PCI FC9001, 580 Servo AX51xx 1 340
EtherCAT Coupler E-bus Box IP 67 Coupler Box Ethernet FC9011 Drives EtherCAT Servo Drives

with EtherCAT interface 1-channel PCI Ethernet card up to 170 A, 1-channel

FC9002 ​581 AX52xx 1 ​341

2-channel PCI Ethernet card EtherCAT Servo Drives

Digital I/O EJ1xxx 344 IExxxx 536 FC9004 ​581 up to 2 x 6 A, 2-channel

digital input Extension Box modules 4-channel PCI Ethernet card AX8000 1 330
for IP-Link FC9051, ​580 multi-axis servo system

EJ2xxx 347 FC9151 1-channel for OCT motors

digital output Mini PCI Ethernet card EL72xx 212

FC9022 ​580 servo terminal, 50 V DC,

2-channel Gbit Irms = 4.5 A

Fieldbus FM33xx-B110 566 PCI Ethernet card Servo- AM80xx 1 352

Analog I/O EJ3xxx 349 Modules Thermocouple FC9024 580 motors Synchronous Servomotors

analog input Fieldbus Modules with 4-channel Gbit with One Cable Technology

EtherCAT interface PCI Ethernet card (OCT)

EJ4xxx ​352 PCI FC1100 583 AM85xx 1 364

analog output EtherCAT PCI EtherCAT slave card Synchronous Servomotors

FC1121 PCI 583 with increased rotor moment

Express EtherCAT slave card of inertia and One Cable

Port CU2508 586 Technology (OCT)

Special EJ5xxx 353 multiplier real-time Ethernet AM88xx 1 377

functions position measurement port multiplier, stainless steel Synchronous

10/100/1000 Mbit/s, IP 20 Servomotors with One Cable

EJ6xxx 355 EtherCAT CU1128 587 Technology (OCT)

communication junction 8-channel EtherCAT RJ45, AM3xxx 1 382

IP 20 Synchronous Servomotors

EJ7xxx 357 EP9128 590 ALxxxx 1 386

motion 8-channel EtherCAT M8, Linear Servomotors

IP 67

EtherCAT CU1521-0000 588​ Compact AM81xx 1 400

media multimode, IP 20 Drive Synchronous Servomotors

System EJ9xxx 358 converter CU1521-0010 ​588 Technology with One Cable Technology

system modules fibre optic singlemode, IP 20 (OCT) for the servo I/Os

CU1561 ​588
plastic optical fibre, IP 20 Transport XTS 1 414
EP9521 591 system eXtended Transport System

multimode, IP 67

We reserve the right to make technical changes.

 EtherCAT – Ultra high-speed for automation
EtherCAT

38
Highlights Protocol

– Ethernet up to the terminal – complete continuity – optimised protocol directly within the Ethernet frame
– Ethernet process interface scalable from 1 bit to 64 kbyte – fully hardware-implemented
– first true Ethernet solution for the field level – for routing and socket interface: UDP datagram
– exact timing and adapted to synchronisation – processing while passing
– distributed clocks for accurate synchronisation
– timestamp data types for resolution in the nanosecond range
Performance – oversampling data types for high-resolution measurements

– 256 digital I/Os in 12 µs

– 1000 digital I/Os in 30 µs Diagnostics
– 200 analog I/Os (16 bit) in 50 µs,
corresponding to 20 kHz sampling rates – breaking point detection
– 100 servo axes every 100 µs – continuous “quality of line” measurement enables
– 12,000 digital I/Os in 350 µs accurate localisation of transmission faults
– Topology View

Topology
Interfaces
– line, tree or star topology
– up to 65,535 devices within one network – switch port terminal for standard Ethernet devices
– network size: almost unlimited (> 500 km) – fieldbus terminals for fieldbus devices
– operation with or without switches – decentralised serial interfaces
– cost-effective cabling: Industrial Ethernet patch cable (Cat.5) – communication gateways
– physical layer: – gateway to other EtherCAT systems
– Ethernet 100BASE-TX via twisted pair,
up to 100 m between 2 slaves
– Ethernet 100BASE-FX via fibre optic cable, Openness
up to 20 km between 2 slaves
– hot connect of bus segments – fully Ethernet-compatible
– operation with switches and routers possible
– mixed operation with other protocols also possible
Address space – internet technologies (Web server, FTP, etc.)
– compatible with the existing Bus Terminal range
– network-wide process image: 4 Gbyte – protocol is published completely
– device process image: 1 bit to 64 kbyte – EtherCAT is IEC, ISO and SEMI standard.
– address allocation: freely configurable
– device address selection: automatically via software
EtherCAT Technology Group

Cost benefits – international pool of companies

– includes users and manufactures
– no more network tuning: lower engineering costs – supports technology development
– hard real-time with software master: no plug-in cards required – ensures interoperability
– no active infrastructure components (switches, etc.) required – integration and development of device profiles
– Ethernet cable and connector costs lower than
for traditional fieldbuses
– EtherCAT down to the I/O terminal: no complex Bus Couplers
– low interface costs due to highly integrated EtherCAT Slave
Controller

We reserve the right to make technical changes.

 EtherCAT
39

Protocol processing completely in hardware | Protocol ASICs flexibly configurable. Process interface from 1 bit to 64 kbyte.

Ethernet for Control Automation Technology

Real-time Ethernet: Ultra high-speed accurately to the connected Ethernet node, From an Ethernet point of view, an EtherCAT
right up to the terminal bandwidth utilisation is very poor, particularly bus segment is simply a single large Ethernet
Outstanding performance, flexible topol- for typical automation devices, since even device that receives and sends Ethernet
ogy and simple configuration characterise for very small data quantities a complete frames. However, the “device“ does not con-
EtherCAT (Ethernet for Control Automation Ethernet frame has to be sent. Moreover, tain a single Ethernet controller with down-
Technology), the real-time Ethernet technol- the times required for the redirection to the stream microprocessor, but a large number of
ogy from Beckhoff. EtherCAT sets standards outputs or drive controllers and for reading EtherCAT slaves. Like for any other Ethernet
where conventional fieldbus systems reach the input data strongly depend on the imple- device, direct communication may be estab-
their limits: 1000 distributed I/Os in 30 µs, mentation. A sub-bus is usually also required, lished without a switch, thereby creating
almost unlimited network size, and optimum particularly in modular I/O systems, which, like a pure EtherCAT system.
vertical integration thanks to Ethernet and the Beckhoff K-bus, may be synchronised and
Internet technologies. With EtherCAT, the fast, but nevertheless always adds small delays Ethernet down to the terminal
costly Ethernet star topology can be replaced to the communication that cannot be avoided. The Ethernet protocol remains intact right
with a simple line or tree structure – no With EtherCAT technology, Beckhoff down to the individual devices, i.e. down
expensive infrastructure com­ponents are overcomes these system limitations of other to the individual terminals; no sub-bus is
required. All types of Ethernet devices can Ethernet solutions: the process no longer required. Only the physical layer is converted
be integrated via a switch port. involves consecutive steps for receiving and in the coupler from 100BASE-TX or -FX to
Where other real-time Ethernet interpreting telegrams and copying the pro- E-bus, in order to meet the requirements of
approaches require special master hard- cess data. In each device (down to the individ- the electronic terminal block. The E-bus sig-
ware or scanner cards, EtherCAT manages ual terminals) the EtherCAT Slave Controller nal type (LVDS) within the terminal block is
with very cost-effective standard Ethernet reads the data relevant for the device while nothing proprietary, it is also used for 10 Gbit
interface cards in the master. the frame passes through it. Similarly, input Ethernet. At the end of the terminal block,
data is inserted into the data stream on the the physical bus characteristics are converted
Principle of operation fly. While the frames (delayed by only a few back to the 100BASE-TX standard.
There are many different approaches bit times) are already passed on, the slave The on-board Ethernet MAC is sufficient
that try to provide real-time capability for recognises relevant commands and executes as hardware in the master device. DMA
Ethernet: for example, the CSMA/CD access them accordingly. The process is hardware- (direct memory access) is used for data trans-
procedure is disabled via higher level pro- implemented in the slave controller and is, fer to the main memory. That means that the
tocol layers and replaced by time slicing therefore, independent of the protocol stack network data access burden is lifted from the
or polling. Other propositions use special software runtimes or the processor power. CPU. The same principle is also used in the
switches that distribute Ethernet telegrams The last EtherCAT slave in the segment Beckhoff multiport cards, which bundle up to
in a precisely controlled timely manner. returns the fully processed frame, so that four Ethernet channels on one PCI slot.
While these solutions are able to transport the first slave device forwards it to the
data packets more or less quickly and master as a kind of response telegram.

We reserve the right to make technical changes.

EtherCAT

40

EtherCAT Slave Controller (ESC) | EtherCAT is not only faster outside the I/O device, but also inside. Digital I/Os are directly operated by
the EtherCAT Slave Controller, without delays through local firmware and independent of the installed μC performance.

Protocol Performance
The EtherCAT protocol is optimised for pro- EtherCAT reaches new dimensions in network
cess data and is either transported directly performance. The update time for the data
in the Ethernet frame or packed into UDP/IP from 1000 distributed inputs/outputs is only
datagrams. The UDP version is used in situ- 30 µs – including terminal cycle time. Up to
ations where EtherCAT segments in other 1486 byte of process data can be exchanged
subnets are addressed via routers. Ethernet with a single Ethernet frame – this is equiva-
frames may contain several EtherCAT tele- lent to almost 12,000 digital inputs and out- From the master

grams, with each telegram serving a par- puts. The transfer of this data quantity only To the master

ticular memory area of the logical process takes 300 µs.

image with an addressable size of up to The communication with 100 servo
4 GB. The data sequence is independent of axes takes place every 100 µs. With this FMMU: telegram processing completely in hardware
the physical order of the EtherCAT Terminals cycle time, all axes are provided with set
in the network; addressing can be in any values and control data and report their
order. Broadcast, Multicast and communica- actual position and status. The distributed
tion between slaves are possible. clocks technique enables the axes to be
The protocol can also handle parameter synchronised with a jitter of significantly
communication, which typically is acyclical. less than 1 microsecond.
The structure and meaning of the parameters The extremely high performance of the
is specified via CANopen device profiles, EtherCAT technology enables control con- The benefits of this network performance
which are available for a wide range of cepts that could not be realised with classic also become apparent in smaller controllers
device classes and applications. EtherCAT fieldbus systems. Very fast control loops can with comparatively moderate computing
also supports the SERCOS servo profile thus also be closed via the bus. Functions capacity. The EtherCAT cycle is so fast that
according to IEC 61800-7-204. that previously required dedicated local it can be executed between two control
In addition to data exchange according hardware support can now be mapped in cycles. The controller thus always has the
to the master/slave principle, EtherCAT is also software. The tremendous bandwidth enables latest input data available; the outputs are
very suitable for communication between status information to be transferred with addressed with minimum delay. The response
controllers (master/master). Freely address- each data item. With EtherCAT, a communi- behaviour of the controller is improved sig-
able network variables for process data and cation technology is available that matches nificantly without increasing the computing
a variety of services for parameterisation, the superior computing capacity of modern capacity itself.
diagnosis, programming and remote control Industrial PCs. The bus system is no longer The EtherCAT technology principle is
cover a wide range of requirements. The data the “bottleneck” of the control concept. scalable and not bound to the baud rate of
interfaces for master/slave and master/master Distributed I/Os are recorded faster than 100 Mbaud – extension to Gbit Ethernet is
communication are identical. is possible with most local I/O interfaces. possible.

We reserve the right to make technical changes.

 EtherCAT
41

Freedom in the choice of topology | Maximum flexibility for wiring: with or without switch, line or tree topologies can be freely selected
and combined. Address assignment is automatic; no IP address setting is required.

EtherCAT instead of PCI Wiring flexibility is further maximised Ethernet, also physical) ring structure, the
With increasing miniaturisation of the PC through the choice of different cables. reference clock can determine the runtime
components, the physical size of Industrial Flexible and inexpensive shielded Industrial offset to the individual local clocks simply
PCs is increasingly determined by the number Ethernet fieldbus cables transfer the signals and accurately – and vice versa. The distrib-
of required slots. The bandwidth of Fast in Ethernet mode (100BASE-TX) up to a uted clocks are adjusted based on this value,
Ethernet, together with the data width of cable length of 100 m between two devices. which means that a very precise network-
the EtherCAT communication hardware The complete bandwidth of the Ethernet wide timebase with a jitter of significantly
(EtherCAT Slave Controller) enables the trans- network – such as different optical fibres less then 1 microsecond is available.
fer of PC interfaces to intelligent interface and copper cables – can be used in combi- However, high-resolution distributed
terminals at the EtherCAT system. Apart from nation with switches or media converters. clocks are not only used for synchronisation,
the decentralised I/Os, axes and control units, For each cable distance, the signal variant but can also provide accurate information
complex systems such as fieldbus masters, can be selected individually. Since up to about the local timing of the data acquisition.
fast serial interfaces, gateways and other 65,535 devices can be connected, the size Thanks to extended data types, very precise
communication interfaces can be addressed of the network is almost unlimited. timestamps can be assigned to measured
via a single Ethernet port in the PC. Even values.
further Ethernet devices without restriction Distributed clocks
on protocol variants can be connected via Accurate synchronisation is particularly Hot Connect
decentralised switch port terminals. The cen- important in cases where spatially distrib- Many applications require a change in I/O
tral IPC becomes smaller and therefore more uted processes require simultaneous actions. configuration during operation. Examples
cost-effective, one Ethernet interface is suf- This may be the case, for example, in appli- are machining centres with changing, sensor-
ficient for the complete communication with cations where several servo axes carry out equipped tool systems or transfer systems
the periphery. coordinated movements simultaneously. with intelligent, flexible workpiece carriers,
The most powerful approach for synchro- or printing machines in which individual print-
Topology nisation is the accurate alignment of distrib- ing units are switched off. The protocol struc-
Line, tree or star: EtherCAT supports uted clocks. In contrast to fully synchronous ture of the EtherCAT system takes account of
almost any topology. The bus or line communication, where synchronisation qual- these requirements: the Hot Connect function
structure known from the fieldbuses ity suffers immediately in the event of a com- enables parts of the network to be linked and
thus also becomes available for Ethernet. munication fault, distributed aligned clocks decoupled or reconfigured “on the fly“, offer-
Particularly useful for system wiring is the have a high degree of tolerance vis-à-vis ing flexible response capability for changing
combination of lines and branches or stubs. possible fault-related delays within the com- configurations.
The required interfaces exist on the couplers; munication system. With EtherCAT, the data
no additional switches are required. Nat- exchange is fully based on a pure hardware High availability
urally, the classic Ethernet star topology machine. Since the communication utilises Increasing demands in terms of system
with junction terminals can also be used. a logical (and thanks to full-duplex Fast availability are catered for with optional

We reserve the right to make technical changes.

 M
t S
EtherCAT

42

S S S S S S

Distributed clocks | Local absolute system synchronisation for CPU, I/O and drive units

cable redundancy that enables devices to be Diagnostics EtherCAT components

changed without having to shut down the The diagnostic capability of a network is a On the hardware side, EtherCAT technology
network. EtherCAT also supports redundant crucial factor for availability and commission- is located in EtherCAT Terminals, for example.
masters with hot standby functionality. Since ing times – and therefore overall costs. Only The I/O system in protection class IP 20 is
the EtherCAT Slave Controllers immediately faults that are detected quickly and accu- based on the housing of the tried and tested
return the frame automatically if an interrup- rately and located unambiguously can be rec- Beckhoff Bus Terminal system. In contrast to
tion is encountered, failure of a device does tified quickly. Therefore, special attention was Bus Terminals, where the fieldbus protocol
not lead to the complete network being shut paid to comprehensive diagnostic features data is converted within the Bus Coupler to
down. Dragchain applications, for example, during the development of EtherCAT. the internal, fieldbus-independent terminal
can thus be specifically configured as stubs During commissioning, the actual con- bus, the EtherCAT protocol remains fully intact
in order to be prepared for cable break. figuration of the I/O terminals should be down to the individual terminal. In addition
checked for consistency with the specified to EtherCAT Terminals with E-bus connection,
Safety over EtherCAT configuration. The topology should also the proven standard Bus Terminals with K-bus
In the interest of achieving safe data match the configuration. Due to the built-in connection can also be connected via the
communication with EtherCAT, the Safety topology recognition down to the individual BK1120 EtherCAT Bus Coupler. This ensures
over EtherCAT protocol has been created. terminals, the verification can not only take compatibility and continuity with the preva-
The protocol meets the requirements of place during system start-up, automatic lent system. Existing and future investments
IEC 61508 up to Safety Integrity Level (SIL) 3 reading in of the network is also possible are protected.
and IEC 61784-3, as approved by the German (configuration upload). EtherCAT is fully integrated into the
Technical Inspection Agency (TÜV). Bit faults during the transfer are reli- Beckhoff control architecture. The EtherCAT
EtherCAT is used as a single-channel ably detected through evaluation of the Box modules feature an integrated EtherCAT
communication system. The transport medium CRC checksum in each device. Apart from interface and can be connected directly to
is regarded as a “black channel” and is breaking point detection and localisation, an EtherCAT network without an additional
not included in the safety considerations. the protocol, transfer physics and topology Coupler Box. The EPxxxx series with industrial
Thus, the protocol can also be transmitted by of the EtherCAT system enable individual housing and protection class IP 67 is suit-
other communication systems, backplanes, quality monitoring of each individual trans- able for application directly at the machine
WLAN, etc. The transfer cycle can be as short mission segment. The automatic evaluation in harsh industrial environments. The EQxxxx
as required without affecting residual error of the associated error counters enables series with stainless steel housing and
probability. The cyclic exchange of safe data precise localisation of critical network protection class IP 69K is suitable for appli-
between a Safety over EtherCAT master and sections. Gradual or changing sources cations with high hygienic standards, such
a Safety over EtherCAT slave is referred to as of error such as EMC influences, defective as in the food, chemical or pharmaceutical
a connection that is monitored via a watch- connectors or cable damage are detected industries.
dog timer. A master can establish and moni- and located. The Beckhoff Industrial PCs, the Embed-
tor several connections to different slaves. ded PCs of the CX series, the Control Panels

We reserve the right to make technical changes.

 EtherCAT
Ethernet HDR HDR 1 Data 1 HDR 2 Data 2 HDR n Data n CRC

43
Logical process image: up to 4 Gbytes

Sub-telegram 1 Sub-telegram 2 Sub-telegram n

Protocol structure | The process image allocation is freely configurable. Data are copied directly in the I/O terminal to the desired location
within the process image: no additional mapping is required. There is a very large address space of 4 Gbytes.

with control functionality, and the Ethernet cost-effectively integrated in all kinds
PCI cards already offer inherent EtherCAT of automation devices, while ensuring
capability. The Beckhoff Servo Drives are interoperability of these implementations.
also available with EtherCAT interface. The EtherCAT Technology Group is the offi-
cial IEC partner organisation for fieldbus
Openness standardisation. Membership is open to
The EtherCAT technology is not only fully all companies.
Ethernet-compatible, but also characterised
by particular openness “by design“: the For further information see
protocol tolerates other Ethernet-based u www.ethercat.org
services and protocols on the same physical
network – usually only with minimum loss
of performance. Any Ethernet device can be
connected within the EtherCAT segment via
a switch port terminal without influencing
the cycle time. Devices with fieldbus interface
are integrated via EtherCAT fieldbus master
terminals. The UDP protocol variant can
be implemented on each socket interface.
EtherCAT is a fully open protocol. It is recog-
nised and available as an official IEC specifi-
cation (IEC 61158, type 12).

EtherCAT Technology Group

The EtherCAT Technology Group (ETG) is
an association of automation users and
manufacturers with a mission to support
the development of EtherCAT technology.
The group represents a variety of industry
sectors and application areas. This ensures
that the EtherCAT technology functions
and interfaces are ideally prepared for the
widest range of applications. The organisa-
tion ensures that EtherCAT can be easily and

We reserve the right to make technical changes.

 EtherCAT system overview
EtherCAT

Flexible topology
44

Ethernet TCP/IP

IPC

Automation suite,
EtherCAT master

Industrial Ethernet cable

Bus/ (100BASE-TX)
line
100 m

Fibre optic
(100BASE-FX)

E-bus K-bus
50 m (POF)
2000 m (multimode) BK1250
20,000 m (singlemode)

Tree/
star

100BASE-FX

Fieldbus integration

We reserve the right to make technical changes.

 EtherCAT
EtherCAT bridge Cable redundancy
45

IPC

IPC
IPC

IPC

EL6695

EtherCAT P

Safety TwinSAFE Logic Safety inputs/outputs

Safety Drives with

TwinSAFE option cards

We reserve the right to make technical changes.

 EtherCAT P | Ultra-fast communication
EtherCAT

and power in one cable

46

www.beckhoff.com/EtherCATP

The same free and flexible Minimised installation Forwarding of power

choice of topology well-known space in drag chains, supply in the devices
from EtherCAT is also available control cabinets
with EtherCAT P. and machines

Outstanding EtherCAT
performance at low
connection costs

One Cable Connection: Highly scalable connec-

Reduced material EtherCAT + 2 x 24 V DC tor family from 24 V DC
and assembly costs (UP, US) on just 4 wires to 630 V AC/850 V DC

We reserve the right to make technical changes.

 EtherCAT
47

EPPxxxx | EtherCAT P EPPxxxx-06xx | Compact EK13xx | EtherCAT P ENP/ECP | Connector family

products in IP 67 EtherCAT P products in IP 67 products in IP 20 for all applications

EtherCAT P from Beckhoff extends the EtherCAT P: From 24 V DC sensor machine and optimised scalability of
EtherCAT technology, which has become an to 630 V AC/850 V DC drive EtherCAT for the following applications:
established global standard. The solution EtherCAT P offers benefits both for con- – B12 for connecting compact motors
combines ultra-fast EtherCAT communication necting remote, smaller I/O stations in with integrated output stages, for up
with the 24 V system and peripheral voltage terminal boxes and I/O components distrib- to 48 V DC and 10 A
in a single cable, optionally with additional uted in the process. A complete connector – B17 for asynchronous motors with
power supply capabilities. This means that family was developed, so that the One Cable frequency converter, for up to 230 V DC
with EtherCAT P, One Cable Automation Automation concept can also be used for and 14 A
(OCA) can be implemented across the entire connecting components with higher voltage – B23 for complete control cabinets,
field level, enabling plug-and-play connection and/or current requirements. The ENP/ECP for up to 400 V AC and 30 A
of machines and other equipment ranging connector family is designed to cover
from sensors to drives without the need for all applications up to drives with 650 V AC
control cabinets. or 850 V DC and up to 64 A.
An EtherCAT P line combines 24 V DC For higher loads, a compact EtherCAT P
supply for connected EtherCAT P slaves, element with the same pin assignment as the
sensors and actuators in a single 4-wire M8 connector was equipped with additional
standard Ethernet cable. US (system and power pins, resulting in the ENP/ECP connec-
sensor supply) and UP (peripheral voltage tors B12, B17 and B23 for different perfor-
for actuators) are electrically isolated from mance classes. Featuring a bayonet fitting and
each other and can supply current of up IP 67 protection rating, they enable simple,
to 3 A to the connected components. fast and reliable connection directly at the

Technical data EtherCAT P

Voltages 2 x 24 V DC according to IEC 61131 (-15 %/+20 %), max. 3 A each per US and UP
Connectors Incorrect connections are ruled out with the new EtherCAT-P-coded M8 connector.
Topology cascadable in all topology variants
Network planning tool-based calculation of currents and voltages, resulting in optimum design and distribution of feed-in points
Process data EtherCAT process data scalable from 1 bit…64 kbyte per device
Devices up to 65,535 devices in one network
Performance cycle times of < 100 μs, distributed clocks synchronisation << 1 μs,
signal sampling with oversampling << 1 μs with n = 1…1000

We reserve the right to make technical changes.

 EtherCAT P simplifies system cabling
EtherCAT

The fundamental idea of EtherCAT P is DC motors, valve terminals, and sensors, EtherCAT P Couplers for connecting
48 to simplify system wiring by reducing the such as proximity switches, light barriers to the IP 20 world
number of connectors on automation or rotary encoders. Cameras, bar code The IP 20 EK13xx EtherCAT P Couplers
components and devices. The single-cable scanners and 3-D scanners can be inte- enable EtherCAT P to be used all the way
solution, which is highly scalable according grated for machine vision applications. through, from the control cabinet right
to individual power requirements, can be to the machine. The EK1300 Coupler inte-
deployed on the entire field level: A conven- EtherCAT P Box modules for all grates EtherCAT Terminals (ELxxxx) with an
tional standard Ethernet cable is used for the data acquisition requirements EtherCAT P network. The upper EtherCAT P
24 V range. For higher voltages and currents, For the 24 V I/O level, a complete range interface is used to connect the coupler to
EtherCAT P is integrated into the correspond- of system and I/O components is already the network, while the lower EtherCAT-P-
ing power cable. For this purpose, Beckhoff available with IP 67 rating. The entire coded M8 socket is used for optimal con-
offers the ENP/ECP connector family, which variety of tried and tested EP Box modules tinuation of the EtherCAT P topology. Since
includes a comprehensive range of cables is also available in EPP format with EtherCAT P integrates power supply and
and connectors. EtherCAT P technology for connecting communication on a single line, an additional
Eliminating the need for separate supply sensors and actuators. These include power supply for the coupler via the terminal
cables reduces material costs, installation different 4-, 8- and 16-channel digital points is not required. Depending on the
effort and time, as well as the risks of instal- input modules (3.0 ms or 10 μs filter), application, the system and sensor supply US
lation errors. In addition, the installation 4-, 8-, 16- and 24-channel digital output or the peripheral voltage for actuators UP can
space required in drag chains, control cabi- modules (0.5 A or 2 A output current), be bridged to the power contacts.
nets and in the machine itself is minimised. a wide range of 4-, 8- and 16-channel The 2-port EK1322 EtherCAT P junction
Moreover, cable routes become smaller and IP 67 I/Os with combined digital inputs/ enables the configuration of EtherCAT P star
less cluttered, and the size of sensors and outputs, as well as serial RS232 and topologies. The ports can be used to con-
actuators can be reduced. Overall, this opens RS422/RS485 interfaces. In addition, nect individual EtherCAT P devices or whole
up significantly more freedom in system there are EPP box modules for analog EtherCAT P segments. The EK1322 can be
design, while minimising material or system input and output parameters, e.g. installed at any point in an EtherCAT segment
costs, which can be further reduced using ±10 V/0 to 20 mA, differential/absolute between the EtherCAT Terminals (ELxxxx).
specific tools for system planning. pressure, and data from resistance sensors, The front terminal points are used for the sys-
thermocouples and incremental encoders. tem and sensor supply US, and the peripheral
EtherCAT P – the ideal sensor, EtherCAT P topologies are just as voltage for actuators UP for the EtherCAT P
actuator and measurement bus freely selectable and customisable as with outputs.
With EtherCAT P, the US and UP currents are EtherCAT. The current carrying capacity of The EK1310 EtherCAT P extension
directly fed into the wires of the 100 Mbit/s 3 A per EtherCAT P segment enables a wide enables conversion from EtherCAT to
line, resulting in a very cost-effective and range of sensors/actuators to be used. EtherCAT P or extension of an EtherCAT P
compact connection. This makes EtherCAT P The following IP 67 infrastructure compo- network. Terminal points are used for system
the ideal sensor, actuator and measurement nents can be used for creating the required and sensor supply US and the peripheral
bus, offering benefits for connecting smaller network structure directly in the field: voltage for actuators UP for the EtherCAT P
remote I/O stations in terminal boxes as well – EtherCAT P Box with ID switch output.
as I/O components distributed in the process (EPP1111)
environment. A special M8 connector was – EtherCAT P junction with power EtherCAT P products in IP 67
developed for this purpose, with mechanical feed-in (EPP1322), with or without see page 294
coding that reliably protects against mismat- refresh (EPP1332/EPP1342)
ing with standard EtherCAT slaves. – EtherCAT P power distribution box EtherCAT P products in IP 20
To be able to connect components (EP9224-0037), with B17-ENP feed-in see page 100
with higher voltage and/or current supply – EtherCAT P junction from EtherCAT Box
needs, a complete EtherCAT P connector system (EP1312) EtherCAT P accessories
family has been designed: the ECP/ENP – EtherCAT P/EtherCAT connector with see page 617
connector family covers all applications power transmission (EPP9001)
up to drives with 630 V AC or 850 V DC – EtherCAT P/EtherCAT connector without
and 64 A ratings and enables efficient power transmission (ZS7000-0005)
connection of all field level components. – EtherCAT P Box for diagnosing US
For I/O connection, interfaces in IP 20 and (system and sensor supply) and UP
IP 67 ratings are available. The system is (peripheral voltage for actuators)
also suitable for actuators such as AC and (EPP9022)

We reserve the right to make technical changes.

EtherCAT P components

EtherCAT
Control cabinet Machine module 1 49

2-port 1-port
EtherCAT P EtherCAT P
junction extension EtherCAT P EtherCAT P
with feed-in with feed-in Coupler Coupler
EK1322 EK1310 EK1300 EK1300

24 V DC 24 V DC 24 V DC

Machine module 2

EtherCAT P EtherCAT P
junction EPP2008- EPP2008- EPPxxxx- EPPxxxx- EPP2008- to EtherCAT: EP2809- EP2809-
EPP1322 0001 0001 006x 006x 0001 ZS7000-0005 0021 0022

24 V DC 24 V DC

Machine module 3 Machine module 4

EtherCAT P
junction
EPP2008- EPP3174- EPP1008- with refresh EPP2334- EPP9022-
0001 0002 0002 EPP1332 0061 0060

24 V DC

EtherCAT P directly connects different machine modules with power and ultra-fast communication in one cable.

We reserve the right to make technical changes.

 XFC | Higher production efficiency with
EtherCAT

extremely fast control technology

50

www.beckhoff.com/XFC

The I/O response time includes all hardware process-

ing times (IPC, EtherCAT and I/O system), ranging from
physical input event to output response. With an I/O
response time of < 100 µs, PLC programmers have
access to performance that in the past was only avail-
able in servo c­ ontrollers with digital signal processors.

We reserve the right to make technical changes.

 EtherCAT
51

TwinCAT Industrial PC Fast I/O Drive Technology

EtherCAT | Even faster with XFC a reduction in cycle times down to 1–2 ms, TwinCAT – The extreme fast
With XFC technology (eXtreme Fast Control) i.e. by about a factor of 10. Many special con- real-time control software
Beckhoff presents an ultra fast control solu- trol loops could thus be moved to the central – real-time under Microsoft Windows
tion: XFC is based on optimised control and machine controller, resulting in cost savings down to 12.5 μs cycle time
communication architectures comprising an and greater flexibility in the application of – standard IEC 61131-3 programming
advanced Industrial PC, ultra-fast I/O termi- intelligent algorithms. in XFC real-time tasks
nals with extended real-time characteristics, XFC offers a further reduction of re- – Standard features of Windows and
the EtherCAT high-speed Ethernet system, sponse times by a factor of 10, and enables TwinCAT are XFC-compliant.
and the TwinCAT automation software. With cycle times of 100 μs and below, without
XFC it is possible to achieve I/O response having to give up central intelligence and EtherCAT – The extreme fast
times < 100 μs. This technology opens up associated high-performance algorithms. control communication technology
new process optimisation opportunities for XFC also includes additional technologies – 1000 distributed digital I/Os in 30 μs
the user that were not possible in the past that not only improve cycle times, but also – EtherCAT down to the individual
due to technical limitations. temporal accuracy and resolution. I/O terminals, no sub bus required
XFC represents a control technology Users benefit from options for enhancing – optimised use of standard Ethernet
that enables very fast and highly determin- the quality of their machines and reducing Controllers, e.g. Intel® PC chipset
istic responses. It includes all hardware and response times. Measuring tasks such as pre- architecture in the EtherCAT master
software components involved in control ventive maintenance measures, monitoring of – advanced real-time feature based on
applications: optimised input and output idle times or documentation of parts quality distributed clocks
components that can detect signals with can simply be integrated in the machine con- – synchronisation
high accuracy or initiate tasks; EtherCAT trol without additional, costly special devices. – timestamping
as very fast communication network; high- In a practical automation solution, – oversampling
performance Industrial PCs; and TwinCAT, not everything has to be extremely fast and
the automation software that links all accurate – many tasks can still be handled EtherCAT Terminals – The extreme
system components. with “normal” solutions. XFC technology is fast I/O technology
Not long ago, control cycle times around therefore fully compatible with existing solu- – full range I/O line for all signal types
10 to 20 ms were normal. The communica- tions and can be used simultaneously with – high-speed digital and analog I/Os
tions interface was free-running, with cor- the same hardware and software. – Timestamping and oversampling
responding inaccuracy of the determinism features allow extreme high timing
associated with responses to process signals. resolution (down to 10 ns).
The increased availability of high-perfor-
mance Industrial PC controllers enabled IPC – The extreme fast control CPU
– Industrial PC based on high-perfor-
mance real-time motherboards
– compact form factors optimised for
control applications

We reserve the right to make technical changes.

 XFC technologies
EtherCAT

Distributed clocks Timestamp/multi-timestamp

52 In a normal, discrete control loop, actual value acquisition occurs at Process data is usually transferred in its respective data format
a certain time (input component), the result is transferred to the con- (e.g. one bit for a digital value or one word for an analog value).
trol system (communication component), the response is calculated The temporal relevance of the process record is therefore inherent
(control component), the result is communicated to the set value out- in the communication cycle during which the record is transferred.
put module (output component) and issued to the process (controlled However, this also means that the temporal resolution and accuracy
system). is limited to the communication cycle.
The crucial factors for the control process are: minimum response Timestamped data types contain a timestamp in addition to
time, deterministic actual value acquisition (i.e. exact temporal calcu- their user data. This timestamp – naturally expressed in the ubiquitous
lation must be possible), and corresponding deterministic set value system time – enables provision of temporal information with signifi-
output. At what point in time the communication and calculation cantly higher precision for the process record. Timestamps can be used
occurs in the meantime is irrelevant, as long as the results are avail- for inputs (e.g. to identify the time of an event occurred) and outputs
able in the output unit in time for the next output, i.e. temporal preci- (e.g. timing of a response). This way it is possible to determine, for
sion is required in the I/O components, but not in the communication example, the precise point in time when an output is to be switched.
or the calculation unit. The switching task is executed independently of the bus cycle.
The distributed EtherCAT clocks therefore represent a basic While timestamp terminals can execute one switching task or
XFC technology and are a general component of EtherCAT commu- switching event per bus cycle, multi-timestamp terminals can execute
nication. All EtherCAT devices have their own local clocks, which are up to 32 switching tasks or switching events per cycle.
automatically and continuously synchronised with all other clocks via
the EtherCAT communication. Different communication runtimes are
compensated, so that the maximum deviation between all clocks is
generally less than 100 nanoseconds. The current time of the distrib-
uted clocks is therefore also referred to as system time, because it is
always available across the whole system. Signal technology for terminals with
timestamping (64 bit time resolution)
– extremely precise time measurement for digital
single shot events per cycle: resolution 1 ns,
internal sampling 10 ns, accuracy with distributed clocks
<< 1 µs (+ input delay)
Distributed clocks – exact time measurement of rising or falling edges
– distributed absolute system synchronisation of distributed digital inputs
for CPU, I/O and drive devices – exact timing of distributed output signals,
– internal sampling 10 ns independent of control cycle
– distributed clock precision << 1 µs – absolute distributed clocks time with 64 bit resolution,
easy time handling over > 580 years

Signal technology for terminals with

multi-timestamping (32 bit time resolution)
– precise time measurement of up to 32 events
per cycle: resolution 1 ns, internal sampling 10 to 40 µs
dependent on the configuration
– exact time measurement of rising or falling edges
of distributed digital inputs
– exact timing of distributed output signals,
independent of control cycle
– distributed clocks time with 32 bit resolution,
sufficient for actions in a ±4-second time frame

We reserve the right to make technical changes.

 EtherCAT
Oversampling Fast I/Os
Process data is usually transferred exactly once per communication Very fast physical responses require suitably short control cycle times 53
cycle. Conversely, the temporal resolution of a process record directly in the associated control system. A response can only take place once
depends on the communication cycle time. Higher temporal resolution the control system has detected and processed an event.
is only possible through a reduction in cycle time – with associated The traditional approach for achieving cycle times in the 100 μs
practical limits. range relies on special separate controllers with their own, directly
Oversampling data types enable multiple sampling of a process controlled I/Os. This approach has clear disadvantages, because the
record within a communication cycle and subsequent (inputs) or prior separate controller has only very limited information about the overall
(outputs) transfer of all data contained in an array. The oversampling system and therefore cannot make higher-level decisions. Reparam-
factor describes the number of samples within a communication cycle eterisation options (e.g. for new workpieces) are also limited. Another
and is therefore a multiple of one. Sampling rates of 200 kHz can eas- significant disadvantage is the fixed I/O configuration, which generally
ily be achieved, even with moderate communication cycle times. cannot be expanded.
Triggering of the sampling within the I/O components is controlled
by the local clock (or the global system time), which enables associ-
ated temporal relationships between distributed signals across the
whole network.

Extreme fast I/O response time

– from 85 μs
– Deterministic synchronised input and output signal
conversion leads to low process timing jitter.
Signal oversampling – Process timing jitter is independent of communication
– multiple signal conversion within one control cycle and CPU jitter.
– hard time synchronisation through distributed clocks
– for digital input/output signals Extreme short control cycle time
– for analog input/output signals – 100 μs (min. 12.5 μs)
– support of analog I/O EtherCAT Terminals – new performance class for PLC application:
– up to 100 kHz signal conversion control loops with 100 μs
– down to 10 μs time resolution
– support of digital I/O EtherCAT Terminals
– up to 1 MHz
– up to 1 μs time resolution Central control
– application
– fast signal monitoring
– fast function generator output
– signal sampling independent of cycle time Central control
– fast loop control

Central control 1 1

Subordinate special control (limited process image)

Central control

1 1

Fast central control (complete process image)

We reserve the right to make technical changes.

 XFC components
Implementation of the XFC technologies control system is relieved of time-consuming levels. It uses distributed clocks. Different
EtherCAT

described above requires full support for all copying and mapping tasks and can fully time levels enable coexistence of XFC and
hardware and software components involved utilise the available computing power for the normal control tasks in the same system,
54 in the control system, including fast, deter- control algorithms. without the XFC requirements becoming a
ministic communication and I/O and control The distributed EtherCAT clocks that “bottleneck”.
hardware. A significant part of XFC are the form the temporal backbone of the XFC tech- An option specially designed for XFC
software components responsible for fast nologies are available in all communication enables inputs to be read during independ-
processing of the control algorithms and devices without significant additional effort. ent communication calls and outputs to be
optimised configuration of the overall system. The crucial point of XFC is the option of sent directly after the calculation. Due to the
Beckhoff offers a special XFC product integrating all I/O components directly in the speed offered by EtherCAT the inputs are
range based primarily on four categories: EtherCAT communication, so that no subor- read and processed “just” before the start
EtherCAT as fieldbus, EtherCAT Terminals as dinate communication systems (sub bus) are of the control tasks, followed by immediate
I/O system, IPCs as hardware platform, and required. In many XFC terminals the AD or distribution of the outputs with a second
TwinCAT as higher-level software. All com- DA converter is connected directly to the fieldbus cycle. The resulting response times
ponents are based on open standards, which EtherCAT chip, so that delays are avoided. are faster than the fieldbus cycle time in
means that any engineer or programmer can some cases.
develop very fast control solutions with high Control component – Special TwinCAT extensions facilitate
performance based on standard components High-performance Industrial PCs handling of the XFC data types (timestamp
(i.e. without special hardware). Central control technology can be particularly and oversampling). PLC blocks enable simple
advantageous if it can run faster and more analysis and calculation of the timestamps.
I/O component with XFC technology powerful control algorithms than would be The TwinCAT scope can display the data
Standard EtherCAT Terminals already offer the case with many distributed small control- picked up via oversampling according to the
full support for XFC technology. Synchro- lers. allocated oversampling factor and enables
nisation of the I/O conversion with the Fast multi-core processors are ideal for precise data analyses.
communication or – more precisely – with running the operator interface of the machine
the distributed clocks is already standard in in parallel with the control tasks. Large caches
EtherCAT and is therefore supported by the available with modern CPUs are ideal for
corresponding terminals. XFC technology, because fast algorithms run
XFC terminals offer additional special in the cache and can therefore be processed
features that make them particularly suitable even faster.
for fast or high-precision applications: An important factor for short XFC cycle
– digital EtherCAT Terminals with very times is the fact that the CPU is not burdened
short TON/TOFF times, or analog terminals with complex process data copying tasks
with particularly short conversion times needed by traditional fieldbuses with their
– EtherCAT Terminals and EtherCAT Box DPRAM-based central boards. EtherCAT
modules with timestamp/multi-time- process data communication can be handled
stamping latching at the exact system entirely by the integrated Ethernet controller
time at which digital or analog events (NIC with bus master DMA).
occur. Output of digital or analog values
can occur at exactly predefined times. Software component –
– Terminals with oversampling enable TwinCAT automation suite
actual value acquisition or set value out- TwinCAT as high-performance automation
put with significantly higher resolution suite fully supports the XFC technologies
than the communication cycle time. while retaining all the familiar features.
The real-time implementation of TwinCAT
Communication component – supports different tasks with different cycle
EtherCAT fully utilised times. Modern Industrial PCs can achieve
With high communication speed and usable cycle times of 100 μs or less without prob-
data rates EtherCAT offers the basic pre- lem. Several (different) fieldbuses can be
requisites for XFC. However, speed is not mixed. The associated allocations and com-
everything. The option of using the bus to munication cycles are optimised according
exchange several independent process images to the fieldbus capabilities. The EtherCAT
arranged according to the control applica- implementation in TwinCAT makes full use
tion enables parallel application of XFC and of the communication system and enables
standard control technology. The central application of several independent time

We reserve the right to make technical changes.

 EtherCAT
Industrial PC
TwinCAT
The TwinCAT automation suite
supports XFC technology with 55
real-time implementation and
extensions for the XFC functions
oversampling, timestamp and
distributed clocks.
Industrial PC TwinCAT

High-performance Industrial
PCs offer plenty of computing
power for short XFC cycle times.

Timestamp
Timestamp input/output modules
can be used to realise responses
with equidistant time intervals.

EtherCAT Terminals

Oversampling
Oversampling offers refined
temporal resolution of a
signal through multiple signal
sampling. EtherCAT Box

Fast I/Os
Fast I/Os make delays in
the hardware negligible.

EtherCAT
EtherCAT offers the basis for
XFC with an extremely fast
communication technology.

Drive Technology
The flexible drive
interface with short
cycle times enables
highly dynamic, strictly
synchronous control
processes covering
EtherCAT multiple axes.
Servo Drives

We reserve the right to make technical changes.

 EtherCAT | Development Products
EtherCAT

56
www.beckhoff.com/EtherCAT-development-products

SPI PIC sample

application

PDI
selector switch Digital I/O interface

16 bit µC
interface

Debug interfaces

EtherCAT piggyback controller board

EtherCAT evaluation kit

We reserve the right to make technical changes.

 ET1100, ET1200

EtherCAT
57

ET1100, ET1200 | EtherCAT ASICs

The ET1100 and ET1200 EtherCAT synchronisation (<< 1 µs) of to four EtherCAT ports. The 8 kB offers up to three EtherCAT
ASICs offer a cost-effective and the EtherCAT slaves. The supply internal memory (DPRAM) for ports, one of which can be used
compact solution for realising voltage is 3.3 V or 5 V; the core access to process and parameter as MII for connecting a standard
EtherCAT slaves. They process voltage of 2.5 V is generated by data is optionally addressed via PHY. The other ports are used for
the EtherCAT protocol in the the integrated in-phase regula- parallel or serial data bus. Alter- LVDS, which makes the ET1200
hardware and therefore ensure tor or can be supplied directly. natively, the ASICs can also be the right choice for modular
high-performance and real-time The ET1100 is suitable as a uni- used without controller. In this devices using LVDS as internal
capability, independent of any versal solution for all types of case up to 32 digital signals can bus physics.
downstream slave microcontrol- EtherCAT devices; the ET1200 be connected directly.
lers and associated software. is optimised for modular devices The ET1200 ASIC is the
Through their three process data using E-bus/LVDS (Low Voltage “small” variant of the ET1100;
interfaces – digital I/O, SPI and Differential Signalling) as inter- with its QFN48 housing measur-
8/16 bit µC (not for ET1200) nal interface. Due to their com- ing only 7 x 7 mm, the chip is
– the EtherCAT ASICs enable pact design and small number even more compact. The device
realisation of simple digital mod- of external components, both offers 16 digital I/O interfaces
ules without microcontrollers ASICs only require minimum and distributed clock hardware
and development of intelligent space on the board. for high-precision synchronisa-
devices with own processor. The ET1100 ASIC housing tion. The 1 kB internal DPRAM is
Both ASICs feature distributed (BGA128) only measures 10 x addressed via a fast (20 Mbit/s)
clocks that enable high-precision 10 mm. The chip can support up serial interface. The “small ASIC”

Technical data ET1100 ET1200

Number of EtherCAT ports 4 (max. 4 x MII) 3 (max. 1 x MII)
FMMUs 8 3
SYNC manager 8 4
DPRAM 8 kbyte 1 kbyte
Distributed clocks yes (64 bit) yes (64 bit)
Process data interfaces 32 bit digital I/O 16 bit digital I/O
SPI SPI
8/16 bit µC –
Housing BGA128, 10 x 10 mm QFN48, 7 x 7 mm
Further information www.beckhoff.com/ET1100 www.beckhoff.com/ET1200

We reserve the right to make technical changes.

 ET181x

ET1810, ET1811, ET1812 | EtherCAT IP core for Altera® FPGAs

The EtherCAT IP core enables the EtherCAT ASICs (ET1100,
EtherCAT

the EtherCAT communication ET1200).

function and application-specific The ET1811 quantity-based
58 functions to be implemented on license for Altera® FPGAs offers
an FPGA (Field Programmable manufacturers of small lots and
Gate Array – i.e. a device con- development service providers
taining programmable logical the possibility of entering the
components). The EtherCAT func- world of EtherCAT development
tionality is freely configurable. with low initial investment. For
The IP core can be combined the development of an EtherCAT
with own FPGA designs, and it device, the ET1811 one-time
can be integrated in System-on- kick-off charge is required, plus
Chips (SoCs) with soft core pro- the ET1811-1000 royalty for
cessors or hard processor systems 1000 devices. The royalties for
via the Avalon® or AMBA® AXI™ 1000 devices must be paid in
interfaces. The physical interfaces advance each time.
and internal functions, such For development service pro-
as the number of FMMUs and viders only the ET1811 one-time
SYNC managers, the size of the kick-off charge will be required;
DPRAM, etc., are adjustable. the ET1811-0030 system integra-
The process data interface (PDI) tor OEM license will be required
and the distributed clocks are for each customer implementa-
also configurable. The func- tion. The end customer will
tions are compatible with the be required to pay the royalty
EtherCAT specification and license (ET1811-1000).

Configurable features ET1810, ET1811, ET1812

PHY interface 1…3 ports MII, 1…3 ports RGMII or 1…2 ports RMII
FMMUs 0…8
SYNC manager 0…8
DPRAM 0…60 KB
Distributed clocks 0…2 SYNC outputs, 0…2 latch inputs (32/64 bit)
Process data interfaces 32 bit digital I/O, SPI, 8/16 bit asynchronous µC interface, Avalon interface, AMBA AXI3 interface, 64 bit general purpose I/O
Further information www.beckhoff.com/ET1810

Ordering information ​
Node-locked buy out license
ET1810 Node-locked license for using the EtherCAT IP core on one workstation.
The license includes 1 year of maintenance and updates.
ET1810-0010 Extension of the node-locked Altera license (ET1810) for one additional workstation
ET1810-0020 One-year maintenance extension for node-locked license (ET1810)
Node-locked quantity-based license
ET1811 One-time kick-off charge for the node-locked quantity-based license for using the freely configurable
EtherCAT IP cores on one workstation
ET1811-1000 Royalty for 1000 devices, ET1811 required
ET1811-0020 One-year maintenance extension, ET1811 required
ET1811-0030 System integrator OEM license
Floating buy out license
ET1812 Floating buy out license for Altera FPGAs
ET1812-0010 Extension of the floating license (ET1812) for one additional workstation
ET1812-0020 One-year maintenance extension for floating license (ET1812)
Evaluation license (Open Core Plus IP)
Full-featured, time-limited version available. www.beckhoff.com/ET1810

We reserve the right to make technical changes.

 ET1815, ET1816

ET1815, ET1816 | EtherCAT IP core for Xilinx® FPGAs

The EtherCAT IP core enables and the EtherCAT ASICs (ET1100,

EtherCAT
the EtherCAT communication ET1200).
function and application-specific The ET1816 quantity-based
functions to be implemented on license offers manufacturers of 59
an FPGA (Field Programmable small lots and development ser-
Gate Array – i.e. a device con- vice providers the possibility of
taining programmable logical entering the world of EtherCAT
components). The EtherCAT development with low initial
functionality is freely config- investment. For the develop-
urable. The IP core can be com- ment of an EtherCAT device,
bined with own FPGA designs, the ET1816 one-time kick-off
and it can be integrated in charge is required, plus ET1816-
System-on-Chips (SoCs) with 1000 royalty for 1000 devices.
soft core processors or hard The royalties for 1000 devices
processing systems via the must be paid in advance each
AMBA® AXI™ interfaces. The time.
physical interfaces and internal Development service
functions, such as the number providers only require ET1816
of FMMUs and SYNC manag- one-time kick-off charge; the
ers, the size of the DPRAM, etc., ET1811-0030 system integrator
are adjustable. The process data OEM license is required for
interface (PDI) and the distrib- each customer implementation.
uted clocks are also configurable. The end customer requires the
The functions are compatible royalty license (ET1816-1000).
with the EtherCAT specification

Configurable features ET1815, ET1816

PHY interface 1…3 ports MII, 1…3 ports RGMII or 1…2 ports RMII
FMMUs 0…8
SYNC manager 0…8
DPRAM 0…60 KB
Distributed clocks 0…2 SYNC outputs, 0…2 latch inputs (32/64 bit)
Process data interfaces 32 bit digital I/O, SPI, 8/16 bit asynchronous µC interface, AMBA AXI4/AXI4 LITE interface, 64 bit general purpose I/O
Further information www.beckhoff.com/ET1815

Ordering information ​
Node-locked buy out license
ET1815 Node-locked license for using the EtherCAT IP core on one workstation.
The license includes 1 year of maintenance and updates.
ET1815-0010 Extension of the node-locked Xilinx license (ET1815) for one additional workstation
ET1815-0020 One-year maintenance extension for node-locked license (ET1815)
Node-locked quantity-based license
ET1816 One-time kick-off charge for the node-locked quantity-based license for using the freely configurable
EtherCAT IP cores on one workstation; target hardware: selected Xilinx devices
ET1816-1000 Royalty for 1000 devices, ET1816 required
ET1816-0020 One-year maintenance extension, ET1816 required
ET1811-0030 System integrator OEM license

We reserve the right to make technical changes.

 EL9820
EtherCAT

60

EL9820 | EtherCAT evaluation kit

The evaluation kit serves as process data interfaces (PDIs) interface for the controller is also
platform for the development of are connected to pin strips and provided. The EL9820 can there-
EtherCAT slaves. The piggyback can be selected via PDI selector fore also be used as platform for
controller board supplied with switch. The SPI interface can the ET9300 EtherCAT Slave Stack
the kit realises the complete optionally be connected with a Code provided with the evalua-
EtherCAT connection with the PIC microcontroller included with tion kits.
ASIC ET1100. All digital I/O, SPI the kit or directly to the pin strip.
and asynchronous μController A programming and debugging

Technical data EL9820

Evaluation kit base board
EtherCAT Slave Controller ASIC ET1100
EtherCAT piggyback FB1111-0142 with ASIC ET1100
controller board
Software EtherCAT Slave Stack Code ET9300
Accessories cables, documentation
Workshop optionally available as TR8100
Further information www.beckhoff.com/EL9820

We reserve the right to make technical changes.

 FB1111

EtherCAT
61

FB1111 | EtherCAT piggyback controller board

The FB1111 EtherCAT piggyback the same form factor and can be
controller board offers a com- used with the EtherCAT evalua-
plete EtherCAT connection based tion kit. They can be integrated
on the ET1100 EtherCAT ASIC. as EtherCAT interfaces in devices.
All variants of the FB1111 have

Ordering information ​
FB1111-0140 EtherCAT piggyback controller board with ET1100 and µC interface; can be integrated as EtherCAT interface in devices.
FB1111-0141 EtherCAT piggyback controller board with ET1100 and SPI interface; can be integrated as EtherCAT interface in devices.
FB1111-0142 EtherCAT piggyback controller board with ET1100 and digital I/O interface; can be integrated as EtherCAT interface in
devices; included in the EL9820 evaluation kit.
www.beckhoff.com/FB1111

We reserve the right to make technical changes.

 FB1311
EtherCAT

62

FB1311 | EtherCAT P piggyback controller board

With the FB1311 piggyback the FB1311 piggyback con- tions and for supplying sensors.
controller board, the EL9820 troller board offers a complete UP can be used to supply electri-
evaluation kit can now be used EtherCAT P connection. US is cally isolated actuator supplies.
as a fully fledged EtherCAT P used for power supply of the
slave (powered device). Based evaluation board and is addition-
on the ET1100 EtherCAT ASIC, ally available for input connec-

Ordering information ​
FB1311-0140 EtherCAT P piggyback controller board with ET1100 and µC interface
FB1311-0141 EtherCAT P piggyback controller board with ET1100 and SP interface
FB1311-0142 EtherCAT P piggyback controller board with ET1100 and digital I/O interface
www.beckhoff.com/FB1311

We reserve the right to make technical changes.

 ZS7002-9990

EtherCAT
63

ZS7002-9990 | EtherCAT P M8 Flange Sample Box

The EtherCAT P M8 Flange Sample Box contains various flanges, housings, contact carriers and counter nuts.

Content
ZS7002-0001 EtherCAT P flange, M8, female, straight, 4-pin, rear assembly, print contact, IP 67, EtherCAT-P-coded, 12.5 mm,
with counter nut
ZS7002-0002 EtherCAT P flange, M8, female, straight, 4-pin, rear assembly, print contact/contact carrier glued into housing, IP 67,
EtherCAT-P-coded, 6.0 mm, with counter nut
ZS7002-0003 EtherCAT P flange, M8, female, straight, 4-pin, rear assembly, print contact, IP 67, EtherCAT-P-coded, 6.0 mm,
with counter nut
ZS7002-0004 EtherCAT P flange, M8, female, straight, 4-pin, rear assembly, print contact, IP 67, EtherCAT-P-coded, 10.0 mm,
with counter nut
ZS7002-0005 EtherCAT P flange, M8, female, angled, 4-pin, rear assembly, print contact, IP 67, EtherCAT-P-coded, 8.2 mm,
with counter nut
ZS7002-0006 EtherCAT P flange, M8, female, angled, 4-pin, rear assembly, print contact, IP 67, EtherCAT-P-coded, 12.2 mm,
with counter nut
ZS7002-0007 EtherCAT P flange, M8, female, straight, 4-pin, rear assembly, print contact, IP 67, EtherCAT-P-coded, 9.0 mm
ZS7002-0008 EtherCAT P flange, M8, female, straight, 4-pin, rear assembly, print contact, IP 67, EtherCAT-P-coded, 13.0 mm
ZS7002-1001 M8 contact carrier, straight, EtherCAT-P-coded for ZS7002-0003, ZS7002-0004, ZS7002-0007 and ZS7002-0008
ZS7002-1002 M8 contact carrier, angled, EtherCAT-P-coded for ZS7002-0005 and ZS7002-0006
ZS7002-2001 M10 counter nut, EtherCAT-P-coded, hexagonal
ZS7002-2002 M12 counter nut, EtherCAT-P-coded, hexagonal
ZS7002-2003 M8 housing, EtherCAT-P-coded for ZS7002-0003
ZS7002-2004 M8 housing, EtherCAT-P-coded for ZS7002-0004
ZS7002-2005 M8 housing, EtherCAT-P-coded for ZS7002-0005
ZS7002-2006 M8 housing, EtherCAT-P-coded for ZS7002-0006
ZS7002-2007 M8 housing, EtherCAT-P-coded for ZS7002-0007
ZS7002-2008 M8 housing, EtherCAT-P-coded for ZS7002-0008

Ordering information ​
ZS7002-9990 EtherCAT P M8 Flange Sample Box
www.beckhoff.com/ZS7002-9990

We reserve the right to make technical changes.

 ET2000
EtherCAT

64

ET2000 | Industrial Ethernet multi-channel probe

The ET2000 multi-channel probe machines or in the laboratory. to the low cycle delay of 1 µs the
from Beckhoff is a versatile piece The four channels enable record- influence on the system is very
of hardware for analysing any ing and analysis of separate net- small.
Industrial Ethernet solution. With works or different points within The device can be connected
eight ports this device enables the same network. All frames in to any Gbit Ethernet interfaces
unlimited synchronised recording transit – in both directions – are on the PC side. A plug-in for the
of up to four independent chan- furnished with a high-precision free Wireshark network monitor
nels at a speed of 100 Mbit/s. timestamp in the probe hard- enables this network monitor to
All real-time Ethernet standards ware and copied to the Gbit be used for analysing recordings
such as EtherCAT, PROFINET, etc. uplink port. The high timestamp and high-precision timestamps.
and conventional office Ethernet resolution of 1 ns enables very
networks are supported. precise timing analysis of the
Through its compact and connected network segments.
rugged design the ET2000 is ideal The ET2000 probe is transparent
both for the local application at for the connected buses. Thanks

Technical data ET2000

Number of ports/channels 8/4
Uplink port 1 Gbit/s
Delay approx. 1 µs
Resolution timestamp 1 ns (channel 0/1)
Software interface WinPcap
Data transfer rates probe ports: 100 Mbit/s, uplink port: 1 Gbit/s
Hardware diagnosis link/activity LED per channel, 1 power LED
Power supply 24 (18…30) V DC, 500 mA, 3-pole terminal (+, -, PE)
Dimensions (W x H x D) approx. 100 mm x 150 mm x 40 mm
Operating temperature 0…+55 °C
Further information www.beckhoff.com/ET2000

We reserve the right to make technical changes.

 Safety over EtherCAT

EtherCAT
65

Safety over EtherCAT

In the interest of realising safe tions. Thus, the protocol can also
data communication for EtherCAT, be transmitted by other com-
the Safety over EtherCAT proto- munication systems, backplanes,
col has been disclosed. The pro- WLAN. The cyclic exchange of
tocol meets the requirements of safe data between a Safety over
IEC 61508 up to Safety Integrity EtherCAT master and a Safety
Level (SIL) 3 and of IEC 61784-3, over EtherCAT slave is referred
as approved by the TÜV. to as a connection that is moni-
EtherCAT is used as a single- tored via a watchdog timer.
channel communication system. The license for implementa-
The transport medium is regard- tion of the Safety over EtherCAT
ed as a “black channel” and not master and slave technology in
included in the safety considera- a device is free of charge.

ET9402 | Safety over EtherCAT Conformance Test Tool

The FSoE Conformance Test Tool the device for the official, inde- the ET9400 is a prerequisite ogy Group (ETG), every manufac-
(FSoE CTT) enables in-house pendent FSoE Conformance Test for the FSoE CTT. turer of EtherCAT devices with
testing of Safety over EtherCAT in an ETG accredited EtherCAT The test includes a com- Safety over EtherCAT is obliged
(FSoE) slave devices with Test Center. plete test set for testing the to prove the compatibility of the
EtherCAT interface. The utilisa- The tool is based on the conformance of FSoE slave Safety over EtherCAT implemen-
tion of the ET9402 tool during EtherCAT Conformance Test Tool devices. The test set is approved tation by means of the current
the development of Safety over (ET9400) with extensions regard- by TÜV. According to the Safety version of the FSoE tests and the
EtherCAT devices helps to ensure ing to Safety over EtherCAT func- over EtherCAT Conformance Test required FSoE Conformance Test
the conformity and to prepare tionality. A valid subscription of Policy of the EtherCAT Technol- Tools.

Ordering information ​
ET9402 Safety over EtherCAT Conformance Test Tool
– includes a complete test set for testing the conformance of FSoE slave devices
– The test set is approved by TÜV.
– A valid subscription of the ET9400 is a prerequisite for the FSoE CTT.
www.beckhoff.com/ET9402

We reserve the right to make technical changes.

 ET9x00

ET9000, ET9200, ET9300 | EtherCAT development software

EtherCAT

ET9000 | EtherCAT configurator

66 master developers who want Properties – Safety configuration,
to use it or integrate and dis- – online features EL69xx Safety PLC
tribute it with their software – scanning of (Safety over EtherCAT)
package. EtherCAT networks – including embedded
The Windows software – diagnostics graphical user interface
for configuring an EtherCAT – free-run online mode – EXE file, executable
network includes a configura- for commissioning under Windows XP, Vista
tor for: – topology representation and Windows 7 (32 bit)
Through clear definition of the – reading XML device – Automation software inter- The EtherCAT configurator is not
interfaces in the EtherCAT speci- descriptions (ESI) face starts the configurator required if the TwinCAT software
fication an EtherCAT master can – generating XML as COM server. from Beckhoff is used.
be developed without having configuration descrip- – COM interface
to develop a configurator at the tions (ENI) – XML interface for param-
same time. The EtherCAT con- eter exchange between
figurator is aimed at EtherCAT client and server

Ordering information ​
ET9000 license for using the EtherCAT configurator
www.beckhoff.com/ET9000

ET9200 | EtherCAT Master Sample Code

Features – CoE (CAN Application The software is sent as source
– boot-up and configuration protocol over EtherCAT) code and can be adapted to
– sending and receiving – SoE (Servodrive Profile the hardware environment
of “raw” EtherCAT frames over EtherCAT) (Ethernet controller) and inte-
to/from a network adap- – EoE (Ethernet over grated in a real-time environ-
ter EtherCAT) ment.
– management of EtherCAT – FoE (File Access over
slave states EtherCAT)
The EtherCAT Master Sample – reading of XML configura- – AoE (ADS over
Code is a user mode Windows tion descriptions EtherCAT)
application that demonstrates – sending of the initialisation – integrated virtual switch
implementation of the EtherCAT commands that are defined functionality
master. The TR8200 workshop for the different state chang- – cyclical process data
for EtherCAT master developers es to the slave device communication
is based on the ET9200. – mailbox communication – distributed clocks state
machine

Ordering information ​
ET9200 license for using the EtherCAT Master Sample Code
www.beckhoff.com/ET9200

We reserve the right to make technical changes.

 ET9x00

ET9300 | EtherCAT Slave Stack Code

The EtherCAT Slave Stack Code EtherCAT slave device implemen- – EoE (Ethernet – various synchronisations

EtherCAT
(SSC) is a code written in ANSI C. tation. Particular attention was over EtherCAT) (e.g. DC), including Sync
Its modular and simple structure paid to the conformity with the – FoE (File Transfer Watchdog
enables fast entry into slave protocol specification. over EtherCAT) – example implementation 67
development. The slave stack code tool – preparation for SoE of the CiA402 drive profile
A large number of EtherCAT provided offers the possibility (Servo drive profile according to ETG.6010
slaves can be realised with the to generate a slave stack code, over EtherCAT) specification
SSC, from the I/Os to the drives. device description files (ESI) and – preparation for boot
The stack can be easily adapted individual source code documen- loader support
to different platforms since it tation to suit the developer’s
provides a defined hardware own needs. Analog & digital I/O
CiA402
access layer and also supports Sample application
different controller architec- Functionality
tures. (excerpt) AoE CoE SoE EoE FoE
The SSC, which has been – ESM (EtherCAT State Process State (DC)
Mailbox data machine Sync
available since 2004 and has Machine)
been continously maintained – mailbox protocols:
and enhanced in collaboration – CoE (CAN application Process data interface: serial/parallel
Platform: little-endian/big-endian/8, 16, 32 bit
with the EtherCAT Technology protocol over EtherCAT)
Group, is considered to a certain – AoE (ADS over EtherCAT Slave Controller
extent to be the reference for an EtherCAT)

Ordering information ​
ET9300 license for using the EtherCAT Slave Stack Code
(free download from Beckhoff website via Member Area of the EtherCAT Technology Group web page)
www.beckhoff.com/ET9300

ET9400 | EtherCAT Conformance Test Tool

The CTT simplifies the develop- With the external CU2508 real- Device Identification methods
ment work with many helpful time Ethernet port multiplier, any – mailbox communication with
functionalities. Error detection computer can be used for real-time SoE and CoE
and troubleshooting are sup- tests, too. That is also the case for – object dictionary description
ported by comprehensive test tests of devices supporting syn- for different profiles, includ-
log information. The CTT sup- chronisation modes with DC. ing CiA402
ports the generation of different In addition to many comfort- – FSoE protocol (with existing
The Conformance Test Tool (CTT) device configurations (e.g. syn- able device configuration func- ET9204 license)
enables in-house testing of chronisation modes or PDO con- tions, the CTT supports an editor System prerequisites:
EtherCAT slave devices. Use figuration) and their automated for the ESI as well as the EEP- Standard PC, Windows XP/
of the CTT supports EtherCAT tests. Tests can be conducted as ROM content (SII) and enables Windows 7/Windows 10
device development, helps to long-term tests and thus as com- the control of the state machine. (32 or 64 bit), network inter-
ensure conformance prior to munication stress tests, too. Each Among others, the delivered face card (100 Mbit/s, together
device release and to prepare test is identified individually to tests check: with CU2508: 1000 Mbit/s),
the device for the official, inde- enable the assignment of the – consistency and plausibility CU2508 if applicable.
pendent Conformance Test in telegrams in a network capture. of the information from CoE Further information
an EtherCAT Test Center (ETC) All test results can be saved in object dictionary, SII and ESI and download of the CTT
accredited by the EtherCAT Excel or CSV for personal docu- – test of the EtherCAT State at www.ethercat.org
Technology Group. mentation. Machine (ESM) and Explicit (members only).

Ordering information ​
ET9400 1-year license for using the EtherCAT Conformance Test Tool
www.beckhoff.com/ET9400

We reserve the right to make technical changes.