1.1. The EC-Master - Features
Feature ID: Unique identification used in ETG.1500 EtherCAT MainDevice Classes
Feature name |
Short description |
EC-Master Class A |
EC-Master Class B |
Feature ID |
|---|---|---|---|---|
Basic Features |
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Service Commands |
Support of all commands |
✅ |
✅ |
101 |
IRQ field in datagram |
Use IRQ information from SubDevice in datagram header |
✅ |
✅ |
102 |
SubDevices with Device Emulation |
Support SubDevices with and without application controller |
✅ |
✅ |
103 |
EtherCAT® State Machine |
Support of ESM special behavior |
✅ |
✅ |
104 |
Error Handling |
Checking of network or SubDevice errors, e.g. Working Counter |
✅ |
✅ |
105 |
VLAN |
Support VLAN Tagging |
106 |
||
EtherCAT® Frame Types |
Support EtherCAT® Frames |
✅ |
✅ |
107 |
UDP Frame Types |
Support UDP Frames |
108 |
||
Process Data Exchange |
||||
Cyclic PDO |
Cyclic process data exchange |
✅ |
✅ |
201 |
Multiple Tasks |
Different cycle tasks Multiple update rates for PDO |
✅ |
✅ |
202 |
Frame repetition |
Send cyclic frames multiple times to increase immunity |
203 |
||
Network Configuration |
||||
Online scanning |
Network configuration functionality included in EtherCAT® MainDevice |
✅ |
✅ |
301 |
Reading ENI |
Network Configuration taken from ENI file |
✅ |
✅ |
301 |
Compare Network configuration |
Compare configured and existing network configuration during boot-up |
✅ |
✅ |
302 |
Explicit Device ID |
Identification used for Hot Connect and prevention against cable swapping |
✅ |
✅ |
303 |
Station Alias Addressing |
Support configured station alias in SubDevice, i.e. enable 2nd Address and use it |
✅ |
✅ |
304 |
Access to EEPROM |
Support routines to access EEPROM via ESC register |
✅ |
✅ |
305 |
Mailbox Support |
||||
Support Mailbox |
Main functionality for mailbox transfer |
✅ |
✅ |
401 |
Mailbox Resilient Layer |
Support underlying resilient layer |
✅ |
✅ |
402 |
Multiple Mailbox channels |
✅ |
✅ |
403 |
|
Mailbox polling |
Polling Mailbox state in SubDevices |
✅ |
✅ |
404 |
CAN application layer over |ETHERCAT_R| (CoE) |
||||
SDO Up/Download |
Normal and expedited transfer |
✅ |
✅ |
501 |
Segmented Transfer |
Segmented transfer |
✅ |
✅ |
502 |
Complete Access |
Transfer the entire object (with all subindices) at once |
✅ |
✅ |
503 |
SDO Info service |
Services to read object dictionary |
✅ |
✅ |
504 |
Emergency Message |
Receive Emergency messages |
✅ |
✅ |
505 |
PDO in CoE |
PDO services transmitted via CoE |
506 |
||
EoE |
||||
EoE protocol |
Services for tunneling Ethernet frames. includes all specified EoE services |
✅ |
✅ |
601 |
Virtual Switch |
Virtual Switch functionality |
✅ |
✅ |
602 |
EoE Endpoint to Operation Systems |
Interface to the Operation System on top of the EoE layer |
FP |
603 |
|
FoE |
||||
FoE Protocol |
Support FoE Protocol |
✅ |
✅ |
701 |
Firmware Up-/Download |
Password, FileName should be given by the application |
✅ |
✅ |
702 |
Boot State |
Support Boot-State for Firmware Up/Download |
✅ |
✅ |
703 |
SoE |
||||
SoE Protocol |
Support SoE Services |
✅ |
✅ |
801 |
AoE |
||||
AoE Protocol |
Support AoE Protocol |
✅ |
✅ |
901 |
VoE |
||||
VoE Protocol |
External Connectivity supported |
✅ |
✅ |
1001 |
Synchronization with Distributed Clock (DC) |
||||
DC support |
Support of Distributed Clocks |
✅ |
1101 |
|
Continuous Propagation Delay compensation |
Continuous Calculation of the propagation delay |
✅ |
1102 |
|
Sync window monitoring |
Continuous monitoring of the Synchronization difference between SubDevices |
✅ |
1103 |
|
SubDevice-to-SubDevice Communication |
||||
via MainDevice |
Information is given in ENI file or can be part of any other network configuration. Copying of the data can be handled by MainDevice stack or MainDevice’s application |
✅ |
✅ |
1201 |
MainDevice information |
||||
MainDevice Object Dictionary |
FP |
1301 |