EtherCAT技术手册.pdf
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EtherCAT技术手册.pdf
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ETG-中文版式.indd12011-2-2516:
49:
27?
3.EtherCAT?
4.?
6.EtherCAT?
8.EtherCAT?
18.EtherCAT?
|?
|?
22.?
24.EtherCAT?
SafetyoverEtherCAT26.?
EtherCAT?
28.?
2EtherCAT?
EtherCAT?
ETG-中文版式.indd22011-2-2516:
49:
39EtherCAT?
EtherCAT?
|?
|?
|?
|?
|?
|?
MAC?
|?
|?
EtherCAT?
|?
|C?
|?
C?
I/O?
|?
|?
|?
|?
|?
|?
|?
|?
|?
65535?
|?
|?
/?
/?
/?
|?
|?
|?
|?
|?
|?
HTTP?
FTP?
TCP/IP?
|?
|?
|?
IEC61508?
|?
I/O?
|?
|?
|?
|EtherCAT?
IEC?
ISO?
SEMI?
|?
|2003?
|?
|?
|?
3EtherCAT?
ETG-中文版式.indd32011-2-2516:
49:
43?
EtherCAT?
MartinRostan?
ETG?
EtherCAT?
EtherCAT?
EtherCAT?
KenichiKarigane?
EtherCAT?
EtherCAT?
EtherCAT?
EtherCAT?
EtherCAT?
EtherCAT?
Ether-CAT?
DmitryDzilno?
EtherCAT?
I/O?
PCI?
Ether-CAT?
Husky?
ChrisChoi?
EtherCAT?
PC?
ms?
EtherCAT?
100s?
EtherCAT?
SchulerSMG?
ETG?
ErichHutflesz?
EtherCAT?
EtherCAT?
EtherCAT?
ETG?
EtherCAT?
EtherCAT?
EtherCAT?
ANCAPty?
PatBoland?
ANCA?
EtherCAT?
CNC?
EtherCAT?
EtherCAT?
4EtherCAT?
EtherCAT?
ETG-中文版式.indd42011-2-2516:
49:
44EtherCAT?
EtherCAT?
EtherCAT?
EtherCAT?
Ether-CAT?
TCP/IP?
EtherCAT?
EtherCAT?
EtherCAT?
PC?
EtherCAT?
EtherCAT?
EtherCAT?
EtherCAT?
Beckhoff?
HansBeckhoff?
EtherCAT?
PC?
EtherCAT?
EtherCAT?
Beckhoff?
EtherCAT?
PLC?
EtherCAT?
EtherCAT?
EtherCAT?
EtherCAT?
5EtherCAT?
ETG-中文版式.indd52011-2-2516:
49:
46EtherCAT?
ETG?
EtherCAT?
EtherCATVendorID?
EtherCAT?
ETG?
EtherCAT?
IEC?
ISO?
ETG?
ETG?
EtherCAT?
EtherCAT?
EtherCAT?
ETG?
EtherCAT?
ETG?
EtherCAT?
ETG?
ETG?
PlugFest?
ETG?
EtherCAT?
EtherCAT?
EtherCAT?
ETG-Team6EtherCAT?
EtherCAT?
ETG-中文版式.indd62011-2-2516:
49:
53EtherCAT?
IEC?
EtherCAT?
IEC?
ETG?
EtherCAT?
IEC?
ISO?
EtherCAT?
IEC61158?
IEC61784?
2?
EtherCAT?
3?
SafetyoverEther-CAT?
5?
EtherCAT?
ISO15745?
IEC61800-7?
Ether-CAT?
SERCOS?
CANopen?
SEMI?
Ether-CATSEMI?
E54.20?
EtherCAT?
EtherCAT?
2003?
ETG?
1500?
ETG?
EtherCAT?
ETGETG?
ETG?
infoethercat.org7EtherCAT?
ETG-中文版式.indd72011-2-2516:
50:
008EtherCAT?
EtherCAT?
EtherCAT?
I/O?
EtherCAT?
/?
I/O?
IPC?
EtherCAT?
I/O?
EtherCAT?
PLC?
100s?
DSP?
1?
CSMA/CD?
PC?
CPU?
IPC?
I/O?
EtherCAT?
EtherCAT?
EtherCAT?
EtherCAT?
1?
I/O?
100Mb/s(2x100Mb/s?
90%)(?
2)?
EtherCAT?
MAC?
EtherCAT?
EtherCAT?
EtherCAT?
EtherCATSlaveController?
ESC?
on-the-fly?
ESC?
processdatainterface?
PDI?
Dual-Port-RAM,DPRAM?
3?
9EtherCAT?
ETG-中文版式.indd92011-2-2516:
50:
1410EtherCAT?
EtherCAT?
EtherCAT?
IEEE802.3?
EtherCAT?
EtherCAT?
EtherCAT?
EtherCAT?
4GB?
I/O?
EtherCAT?
EtherCAT?
ESC?
FieldbusMemoryManagementUnit,FMMU?
EtherCAT?
EtherCAT?
EtherCATUDP?
EtherCAT?
UDP/IP?
4?
EtherCAT?
UDP?
4?
EtherCAT?
IEEE802.33?
EtherCAT?
?
EtherCAT?
UDP?
ID?
/?
EtherCAT?
/?
10EtherCAT?
ETG-中文版式.indd102011-2-2516:
50:
1411EtherCAT?
EtherCAT?
5?
100?
EtherCAT?
EtherCAT?
(?
5)?
I/O?
100BASE-TX?
PoweroverEtherCAT?
IEEE802.3af?
100BASEFX?
100BASE-TX?
11EtherCAT?
65,535?
LVDS?
4,5?
LVDS?
100BASE-TX?
ETG-中文版式.indd112011-2-2516:
50:
1412EtherCAT?
EtherCAT?
6?
Scopeview?
300?
120m?
IEEE1588?
EtherCAT?
CPU?
1000?
I/O?
30s?
I/O?
1?
1486?
12000?
150s?
100?
100s?
1?
TCP/IP?
EtherCAT?
EtherCAT?
PC?
I/O?
I/O?
EtherCAT?
100Mbps?
1Gbit?
IEEE1588?
6?
EtherCAT?
(?
)?
1?
6?
EtherCAT?
7?
12EtherCAT?
ETG-中文版式.indd122011-2-2516:
50:
1413EtherCAT?
EtherCAT?
8?
EtherCAT?
EtherCAT?
SafetyoverEtherCAT?
EtherCAT?
IEC61508?
SIL?
3?
I/O?
EtherCAT?
EtherCAT?
2005?
ETG?
SafetyDrivePro-file?
EtherCAT?
I/O?
CRC?
32?
CRC?
4?
EtherCAT?
EMI?
1?
EtherCAT?
8?
13EtherCAT?
256?
I/O11s=0.01ms1000?
I/O30s200?
I/O?
16?
50s20kHz100?
8?
100s1?
1486?
1486?
150sETG-中文版式.indd132011-2-2516:
50:
1514EtherCAT?
EtherCAT?
9?
EtherCAT?
PCI?
PC?
PC?
EtherCAT?
IPC?
EtherCAT?
9?
I/O?
IPC?
IPC?
(?
10)?
I/O?
EtherCAT?
11?
EtherCAT?
EtherCAT?
14EtherCAT?
ETG-中文版式.indd142011-2-2516:
50:
1515EtherCAT?
EtherCAT?
11?
EtherCAT?
CAN?
(CoE)CANopen?
I/O?
EtherCAT?
CANopen?
7?
PDO?
SDO?
CANopen?
EtherCAT?
CAN-open?
EtherCAT?
IEC61800-7-204?
SERCOS?
SERCOSinterface?
SERCOS?
IEC61800-7-204?
EtherCAT?
(SoE)?
304?
8?
EtherCAT?
EtherCAT?
IDN?
AT?
MDT?
SERCOS?
EtherCAT?
SERCOS?
EtherCAT?
SER-COS?
SERCOS?
CNC?
EtherCAT?
EtherCAT?
EtherCAT?
(EoE)EtherCAT?
EtherCAT?
EtherCAT?
VPN?
PPPoE(DSL)?
EtherCAT?
12?
EtherCAT?
2?
FTP?
EtherCAT?
10?
EtherCAT?
15EtherCAT?
ETG-中文版式.indd152011-2-2516:
50:
1516EtherCAT?
EtherCAT?
12?
EtherCAT?
(FoE)?
TFTP?
TCP/IP?
EtherCAT?
IEC?
1EtherCATTechnologyGroup,http:
/www.ethercat.org2IEC61158-3/4/5/6-12,IndustrialcommunicationnetworksFieldbusspecificationsPart3-12:
Data-linklayerservicedefinitionPart4-12:
Data-linklayerprotocolspecificationPart5-12:
ApplicationlayerservicedefinitionPart6-12:
ApplicationlayerprotocolspecificationType12elements(EtherCAT)3IEEE802.3:
CarrierSenseMultipleAccesswithCollisionDetection(CSMA/CD)AccessMethodandPhysicalLayerSpecifications.4IEEE802.3ae:
CSMA/CDAccessMethodandPhysicalLayerSpecifications:
MediaAccessControl(MAC)Parameters,PhysicalLayers,andManagementParametersfor10GB/sOperation.5ANSI/TIA/EIA-644-A,ElectricalCharacteristicsofLowVoltageDifferentialSignaling(LVDS)InterfaceCircuits6IEEE1588:
IEEEStandardforaPrecisionClockSynchronizationProtocolforNetworkedMeasurementandControlSystems7EN50325-4:
IndustrialcommunicationssubsystembasedonISO11898(CAN)forcontroller-deviceinterfaces.Part4:
CANopen.8IEC61800-7-301/304,AdjustablespeedelectricalpowerdrivesystemsPart7-301:
GenericinterfaceanduseofprofilesforpowerdrivesystemsMappingofprofiletype1tonetworktechnologiesPart7-304:
Genericinterfac
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