With the increasing presence of EtherCAT in the motion control industry, choosing between EtherCAT and Ethernet is becoming an increasingly important question. This presentation will cover the technical differences between both methods and provide advice on how to choose between them based on application requirements. Strengths and weakness of both Ethernet and EtherCAT will be discussed including development time, ease of use, cost, and complexity. Additionally, Galil’s DMC-500x0 EtherCAT Master and DMC-40x0 Ethernet controller will be reviewed with regards to the capabilities and advantages they can offer. This presentation is geared towards system developers looking to understand the differences, costs, and capabilities of both Ethernet and EtherCAT. Watch the webinar: http://www.designworldonline.com/ethernet-or-ethe…r-motion-control/ ‎

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q This webinar will be available afterwards at
www.designworldonline.com & email
q Q&A at the end of the presentation
q Hashtag for this webinar: #DWwebinar
Before We Start

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Meet your Speakers
MODERATOR FEATURED SPEAKER
Matt Klint
Applications Engineer
Galil Motion Control
Leslie Langnau
Managing Editor
Design World

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Galil Mo(on Control
Ma- Klint
Applica(ons Engineer
Galil Mo(on Control
EtherCAT or Ethernet for Mo(on Control
Choosing the right network solu(on for your Applica(on
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Agenda
• Introduc)on
• About Galil
• Solu)ons
• Mo(on Control Systems
• Centralized vs. Distributed
• Ethernet Control
• EtherCAT Control
• Examples
• Galil’s EtherCAT
• DMC-500x0 EtherCAT Master
• RIO-574x0 EtherCAT IO
• Summary
• Decision points for EtherCAT or Ethernet
• Q&A
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About Galil
Established Reputa)on and long History of Success
• Founded in 1983 by Dr. Jacob Tal and Wayne Baron
• Introduced the 1st microprocessor based servo controller
• Profitable for over 119 consecu(ve quarters
• Over 750,000 mo(on controllers and PLCs delivered
Excellent Engineering Support and Service
• Worldwide network of factory trained reps & distributors
• Support team with over 100 years combined mo(on control experience
• Online support tools at www.galil.com
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Mo(on Control System
Component Func)on
Command Posi(on An ideal reference generated by the Mo(on Controller
Actual Posi(on Encoder feedback posi(on
Error Difference between Command Posi(on and Actual Posi(on
Kp, Kd, Ki PID Filter gains that translate measured Error into a Control Signal
Control Signal Works to correct the measured Error via nega(ve feedback

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Centralized Control
HMI/PC
Mo(on
Controller
Servo
Drives
PLC
• All components are in close proximity
• Mo(on commands are relayed to the drives via analog
voltage reference or step/direc(on signals
• Mo(on Profiling and the servo loop are all handled on
the mo(on controller in hardware with almost no
latency, leading to a high degree of determinism
• Mo(on can be synchronized and coordinated with
changes in IO states
• Examples:
o CNC Machine
o Semiconductor Inspec(on
o Pick and Place Machine
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Distributed Control
• Coordina(on (mo(on or triggering IO) is lec to
each node to manage and report back to the
central Master
• Communica(on delays between nodes and the
master can lead to race condi(ons,
indeterminate states etc. As a result, distributed
control networks are typically not determinis(c
• Real (me data must be collated on the master
using (me stamps
• Best for plant/process control and monitoring
where (ght coordina(on is required between
drives and IO
PLC
PLC
PLC
Switch
Mo(on
Controller
Servo
Drives
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Ethernet and EtherCAT
• Ethernet: Flexible, high bandwidth, non determinis(c
• Designed to move large amounts of data through many different nodes
• Able to route data to and from billions of separate addresses allowing communica(on across vast networks
• Large overhead involved in encapsula(ng, rou(ng and formadng data
• Socware handles extrac(on and processing of data
• EtherCAT: Real Time Distributed Control, determinis(c
• Uses standard Ethernet hardware, CAT5 cabling and Network Interface Cards (NIC)
• Streamlines Ethernet communica(on at the hardware level, moving only essen(al data with minimal overhead
• Data processing on slave devices is handled “on the fly” via FPGA or ASIC, minimizing latency
• Ini(al setup and configura(on required
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Ethernet and EtherCAT Frames
EtherCAT Frame
Ethernet Frame
The Ethernet header contains source and des(na(on addresses. Packets are addressed to
a par(cular node (IP/MAC Address).
The Ethernet header contains source and des(na(ons but packets are broadcast to all MAC Addresses.
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EtherCAT Communica(on
• Based on CANOpen
• Standard CAT5 Cabling
• FPGAs for fast data processing ‘on the fly’
• Data formadng must be configured prior to opera(on
• Mul(ple modes of opera(on
• Distributed Clock allows for (ghtly coordinated ac(ons over
long distances
• Drives are daisy chained together
• Likened to a ‘data train’, each drive takes data off the train,
places data on the train

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EtherCAT Coordina(on
Object Dic(onary
For the purposes of Mo(on Control, EtherCAT is used to relay data between a master and mul(ple slave nodes on
the same network. Each slave includes a range of spaces (registers) in memory to which the EtherCAT Master can write
to and read from. Referred to as the Object Dic(onary, the layout of this memory space is iden(cal across all EtherCAT
slaves as mandated by the EtherCAT standard.
PDO: Process Data Object
Before the network is brought up, the master builds the packet structure and then communicates this structure to all
drives. Among other things, the configura(on informa(on ‘tells’ each drive where its data resides in the EtherCAT
Packet. When the network is ac(ve, each drive takes instruc(on (posi(oning/torque/velocity and control informa(on)
from a par(cular byte range and inserts the data requested by the the master (encoder posi(on, IO status and drive
status). In turn, the master ‘knows’ where in the return packet to look for informa(on returned from each drive.
DC: Distributed Clocks
The EtherCAT Master determines communica(on latency between itself and each drive then assigns a
(me offset to each. During network opera(on, a synchroniza(on pulse is sent out on every
communica(on cycle. Once this pulse is received, each drive ‘waits’ for its defined offset before execu(ng
the commands stored in its registers and copy its data in
Cyclic Synchronous Communica(on
Distributed Clocks are necessary for the Cyclic Synchronous Modes of Opera(on:
• Cyclic Synchronous Posi(on: EtherCAT Master sends posi(oning data, PID is handled on the
slave
• Cyclic Synchronous Velocity: EtherCAT Master sends velocity data, PID is handled on the slave
• Cyclic Synchronous Torque: EtherCAT Master sends torque data, PID is handled on the master

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EtherCAT Data
Object Dic(onary
For the purposes of Mo(on Control, EtherCAT is used to relay data between a master and mul(ple slave nodes on
the same network. Each slave includes a range of spaces (registers) in memory to which the EtherCAT Master can write
to and read from. Referred to as the Object Dic(onary, the layout of this memory space is iden(cal across all EtherCAT
slaves as mandated by the EtherCAT standard.
PDO: Process Data Object
Before the network is brought up, the master builds the packet structure and then communicates this structure to all
drives. Among other things, the configura(on informa(on ‘tells’ each drive where its data resides in the EtherCAT
Packet. When the network is ac(ve, each drive takes instruc(on (posi(oning/torque/velocity and control informa(on)
from a par(cular byte range and inserts the data requested by the the master (encoder posi(on, IO status and drive
status). In turn, the master ‘knows’ where in the return packet to look for informa(on returned from each drive.

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EtherCAT Data
Slave 1 Slave 2 Slave 3 Slave 4 Master

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PDO Structure
To Master
To Slaves
Object Func)on
ControlWord Device control, enable voltage, energize motor etc.
Target Posi(on Posi(on commanded by the EtherCAT Master
Encoder Posi(on Posi(on data returned by the EtherCAT Slave
Digital Input Status Bitmask reflec(ng digital input status on the EtherCAT Slave
StatusWord Drive informa(on including error and alarm status

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EtherCAT Layout
EtherCAT Master
EtherCAT
Drive 1
EtherCAT
Drive 2
EtherCAT
Drive 3
Motor/
Encoder
Motor/
Encoder
Motor/
Encoder
CAT5
Ethernet Cable
I/O
Module
Mo(on Commands are relayed
to the drives via digital signals

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Ethernet Layout
Host PC or HMI
Motor
+
Encoder CAT5
Ethernet Cable
Drive
Drive
Mo)on
Controller
Motor
+
Encoder
Motor
+
Encoder
Drive
• Communica(on between mo(on
controller and PC is over Ethernet
• Mo(on Commands are relayed to
the drives analog signals
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The DMC-500x0 EtherCAT Master
• Includes all the features of our flagship DMC-40x0
series controller with the addi(on of EtherCAT drive
support for up to 8 axes in Cyclic Posi(on Mode
• Only mo(on controller in the industry with the ability
to mix and match local and EtherCAT drives
• Easily configurable and designed with compa(bility
and flexibility in mind
• Mul(ple drive vendors supported
• Compa(ble with Galil’s en(re line of internal servo
and stepper motor amplifiers
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The RIO-574x0 EtherCAT I/O Slave
Features
• 16 high power, 500mA sourcing, optoisolated
digital outputs
• 16 Optoisolated digital inputs
• 8 x Programmable analog inputs
• 8 x Programmable analog outputs
Fully Func(onal EtherCAT Slave
• EtherCAT Conformance Tested
• Supports Distributed Clock
• Programmable Analog IO ranges
• Field Upgradeable Firmware
Conformance Tested
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DMC Code Examples
Commanding movement on a local axis
Commanding movement on an
EtherCAT axis and reading EtherCAT IO
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DMC-500x0 Hardware Layout
DMC-50070
EtherCAT
Drive 1
EtherCAT
Drive 2
EtherCAT
Drive 3
Servo
Motor
Servo
Motor
Servo
Motor
RIO-57420
Analog & Digital
IO
Stepper
Motor
Servo
Motor
Servo
Motor
Stepper
Motor
Stepper
Driver
Stepper
Driver

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Compa(ble EtherCAT Drives
Currently Supported Drives & IO
• AMC DZEANTU Series
• Copley XenusPLUS XEL-230-36
• LS Mecapion Pegasus and L7NA Series
• Panasonic Minas A5B
• Sanyo-Denki SANMOTION RS2A01A0KA4
• Yaskawa Sigma-5 Series
• Delta Electronics ASD-A2 Series
• Galil RIO-574x0 IO
• VIPA IO
For drives not listed, please contact a Galil Applica(ons Engineer
to discuss your applica(on
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Summary
• The EtherCAT protocol is gaining trac(on as a robust and efficient solu(on to demanding, large scale automa(on
applica(ons that require real (me distributed control over long distances (factory floor)
• Higher controller and drive cost can be offset by the use of pre exis(ng, easily a-ainable hardware and ease of wiring
• Ethernet communica(on and analog drive control will con(nue to be the most cost effec(ve op(on for applica(ons
requiring a centralized control scheme
• Why Choose?
With the DMC-500x0’s exclusive ability to both Analog and EtherCAT drives, development is not
locked into one or the other. This grants developers increased flexibility in case design considerations
change further down the road. Distributed control or Centralized control or a mix of both is possible with the
DMC-500x0
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Matt Klint
Applications Engineer
Galil Motion Control
support@galilmc.com
@Galil
Leslie Langnau
Managing Editor
Design World
llangnau@wtwhmedia.com
@DW_3dprinting
Questions?
MODERATOR FEATURED SPEAKER

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q This webinar will be available at
designworldonline.com & email
q Tweet with hashtag #DWwebinar
q Connect with Design World
q Discuss this on EngineeringExchange.com
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