BECKHOFF EtherCAT Technology Section I User Manual
BECKHOFF Equipment
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Version 2.2
Date:
2014-07-07
Hardware Data Sheet Section I
Slave Controller
Section I
– Technology
EtherCAT Protocol, Physical Layer,
EtherCAT Processing Unit, FMMU,
SyncManager, SII EEPROM, Distributed
Clocks
Section II
– Register Description
(Onli
Section III
– Hardware Description
(Onli
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Table of contents
Document Outline
- Section I – Technology
- 1 EtherCAT Slave Controller Overview
- 2 EtherCAT Protocol
- 3 Frame Processing
- 4 Physical Layer Common Features
- 5 Ethernet Physical Layer
- 5.1 Requirements to Ethernet PHYs
- 5.2 PHY reset and Link partner notification/loop closing
- 5.3 MII Interface
- 5.4 RMII Interface
- 5.5 RGMII Interface
- 5.6 Link Detection
- 5.7 Standard and Enhanced MII Link Detection
- 5.8 EtherCAT over Optical Links (FX)
- 5.9 Gigabit Ethernet PHYs
- 5.10 MII Management Interface (MI)
- 5.11 MII management example schematic
- 5.12 Ethernet Termination and Grounding Recommendation
- 5.13 Ethernet Connector (RJ45 / M12)
- 5.14 Back-to-Back MII Connection
- 6 EBUS/LVDS Physical Layer
- 7 FMMU
- 8 SyncManager
- 9 Distributed Clocks
- 9.1 Clock Synchronization
- 9.1.1 Clock Synchronization Process
- 9.1.2 Propagation Delay Measurement
- 9.1.3 Offset Compensation
- 9.1.4 Resetting the Time Control Loop
- 9.1.5 Drift Compensation
- 9.1.6 Reference between DC Registers/Functions and Clocks
- 9.1.7 When is Synchronization established?
- 9.1.8 Clock Synchronization Initialization Example
- 9.2 SyncSignals and LatchSignals
- 9.3 System Time PDI Controlled
- 9.4 Communication Timing
- 9.1 Clock Synchronization
- 10 EtherCAT State Machine
- 11 SII EEPROM
- 12 Interrupts
- 13 Watchdogs
- 14 Error Counters
- 15 LED Signals (Indicators)
- 16 Process Data Interface (PDI)
- 17 Additional Information
- 18 Appendix