The document discusses EtherCAT as a machine control protocol, including:
- EtherCAT's origins as an Ethernet-based fieldbus optimized for industrial automation control.
- How EtherCAT streamlines Ethernet communication at the hardware level using FPGA/ASIC technologies.
- The master/slave configuration of EtherCAT networks, with the master sending and requesting data from slaves.
- Galil's DMC-500x0 motion controller, which functions as an EtherCAT master and supports up to 8 servo axes.
EtherCAT - Ethernet for Control Automation Technology - is an Ethernet-based fieldbus system, invented by Beckhoff Automation. The protocol is standardized in IEC 61158 and is suitable for both hard and soft real-time requirements in automation technology. EtherCAT is a highly flexible Ethernet network protocol that is developing at a rapid rate and growing at an even faster clip. A unique principle called “processing on the fly” gives EtherCAT a handful of unique advantages. Because EtherCAT messages are passed before being processed in each node, EtherCAT operates at a high speed and efficiency. The process also creates flexibility in topology and incredible synchronization. Outside of the advantages gained from “processing on the fly,” EtherCAT benefits from superb infrastructure. EtherCAT includes, among other things, a safety protocol and multiple device profiles. EtherCAT also benefits from a strong users group. The combination of benefits means EtherCAT is poised for continued growth.
10. In order to meet customers’ needs for EtherCATdevices, we provide a variety of EtherCAT I/O devices. The ECAT-2000 is equipped with the EtherCAT protocol and installed by daisy chain connection which permits the flexibility in devices installation and reduces infrastructure and operation costs. All the modules can be deployed in the network topologies such as star, line or ring. The isolation input and output design protects the ECAT-2000 against the harmful interference and environment.
Learn more: www.icpdas-usa.com?r=slideshare
- Use of EtherCAT technology at PXL TECH department.
- Use of Beckhoff modules
- Implementation of EtherCAT core on Xilinx FPGA
- Use of piggyback boards
Accurate Synchronization of EtherCAT Systems Using Distributed ClocksDesign World
Synchronization and determinism are important considerations when selecting an industrial control system and the associated fieldbus. Additionally, it’s important for field devices to have network-wide interrupts for activating outputs, capturing input data, oversampling or latching events. These are all significant facets in the overall network synchronization scheme.
This webinar on Tuesday, Oct. 23 at 2 PM EST will explain how the Distributed Clock mechanism in EtherCAT works to meet all of these functions using properties inherent to the protocol. This can be done using a standard Ethernet network adaptor, all without the overhead of IEEE 1588.
Attend this webinar to learn:
How Distributed Clocks (DCs) in EtherCAT facilitate measurement of propagation delay throughout the system and synchronize network devices to a single time value
What EtherCAT slave devices can do to facilitate temporal behavior for outputs and inputs as well as implementing data oversampling
More about some of the concepts that enable EtherCAT to have a high scan rate as well as high levels of synchronization
EtherCAT as a Master Machine Control ToolDesign World
There is an increasing demand in the automation and motion control industries for a localized motion control solution that can coordinate motion between multiple remote components.
Previously, field bus protocols such as Modbus or Ethernet have been implemented to address this demand. Although successful in moving data across automation networks, these protocols lacked the real time performance necessary for a distributed motion control system.
The EtherCAT communication protocol provides a high speed, low overhead communication scheme that allows efficient, deterministic communication between motion controller and remote components. Based on Ethernet and streamlined specifically for point to point transmission of real time data, the EtherCAT standard is quickly becoming the preferred choice for centralized control of tightly coupled motion between remote components.
This presentation is aimed at designers of automation and motion control systems with a basic understanding of Ethernet communication.
Multi-axis position control by EtherCAT real-time networking:
The strength of EtherCAT synchronization techniques allows it to be compatible with both low and high demanding applications. Combined with the correct implementation of both the network protocol, and a proper device profile, a true distributed motion control can be achieved.
Industrial Networks: the Choices for Real Time Motion ControlDesign World
Among the versions of Ethernet for real-time motion update, two are leading the industry today: EtherCAT, Ethernet/IP, and Powerlink. Each handles real-time messaging differently, and the differences affect your design choices. The leading vendors behind these networks will discuss the ways each handles real-time updates. By watching this special, free 1-hour on-demand webinar you will gain a better understanding of the key factors necessary to make the best network choice for your motion application.
EtherCAT - Ethernet for Control Automation Technology - is an Ethernet-based fieldbus system, invented by Beckhoff Automation. The protocol is standardized in IEC 61158 and is suitable for both hard and soft real-time requirements in automation technology. EtherCAT is a highly flexible Ethernet network protocol that is developing at a rapid rate and growing at an even faster clip. A unique principle called “processing on the fly” gives EtherCAT a handful of unique advantages. Because EtherCAT messages are passed before being processed in each node, EtherCAT operates at a high speed and efficiency. The process also creates flexibility in topology and incredible synchronization. Outside of the advantages gained from “processing on the fly,” EtherCAT benefits from superb infrastructure. EtherCAT includes, among other things, a safety protocol and multiple device profiles. EtherCAT also benefits from a strong users group. The combination of benefits means EtherCAT is poised for continued growth.
10. In order to meet customers’ needs for EtherCATdevices, we provide a variety of EtherCAT I/O devices. The ECAT-2000 is equipped with the EtherCAT protocol and installed by daisy chain connection which permits the flexibility in devices installation and reduces infrastructure and operation costs. All the modules can be deployed in the network topologies such as star, line or ring. The isolation input and output design protects the ECAT-2000 against the harmful interference and environment.
Learn more: www.icpdas-usa.com?r=slideshare
- Use of EtherCAT technology at PXL TECH department.
- Use of Beckhoff modules
- Implementation of EtherCAT core on Xilinx FPGA
- Use of piggyback boards
Accurate Synchronization of EtherCAT Systems Using Distributed ClocksDesign World
Synchronization and determinism are important considerations when selecting an industrial control system and the associated fieldbus. Additionally, it’s important for field devices to have network-wide interrupts for activating outputs, capturing input data, oversampling or latching events. These are all significant facets in the overall network synchronization scheme.
This webinar on Tuesday, Oct. 23 at 2 PM EST will explain how the Distributed Clock mechanism in EtherCAT works to meet all of these functions using properties inherent to the protocol. This can be done using a standard Ethernet network adaptor, all without the overhead of IEEE 1588.
Attend this webinar to learn:
How Distributed Clocks (DCs) in EtherCAT facilitate measurement of propagation delay throughout the system and synchronize network devices to a single time value
What EtherCAT slave devices can do to facilitate temporal behavior for outputs and inputs as well as implementing data oversampling
More about some of the concepts that enable EtherCAT to have a high scan rate as well as high levels of synchronization
EtherCAT as a Master Machine Control ToolDesign World
There is an increasing demand in the automation and motion control industries for a localized motion control solution that can coordinate motion between multiple remote components.
Previously, field bus protocols such as Modbus or Ethernet have been implemented to address this demand. Although successful in moving data across automation networks, these protocols lacked the real time performance necessary for a distributed motion control system.
The EtherCAT communication protocol provides a high speed, low overhead communication scheme that allows efficient, deterministic communication between motion controller and remote components. Based on Ethernet and streamlined specifically for point to point transmission of real time data, the EtherCAT standard is quickly becoming the preferred choice for centralized control of tightly coupled motion between remote components.
This presentation is aimed at designers of automation and motion control systems with a basic understanding of Ethernet communication.
Multi-axis position control by EtherCAT real-time networking:
The strength of EtherCAT synchronization techniques allows it to be compatible with both low and high demanding applications. Combined with the correct implementation of both the network protocol, and a proper device profile, a true distributed motion control can be achieved.
Industrial Networks: the Choices for Real Time Motion ControlDesign World
Among the versions of Ethernet for real-time motion update, two are leading the industry today: EtherCAT, Ethernet/IP, and Powerlink. Each handles real-time messaging differently, and the differences affect your design choices. The leading vendors behind these networks will discuss the ways each handles real-time updates. By watching this special, free 1-hour on-demand webinar you will gain a better understanding of the key factors necessary to make the best network choice for your motion application.
The RUGGEDCOM RS416 is a utility grade serial device server with an integrated, fully managed Ethernet switch, designed to operate reliably in electrically harsh and climatically demanding environments.
Communication protocols in Embedded Systems. This presentation focused mainly on lower level protocols. Ideal for the beginner to build understanding on these protocols like I2C, USB, SPI etc.
MIPI DevCon 2016: A Developer's Guide to MIPI I3C ImplementationMIPI Alliance
In this presentation, Intel's Ken Foust, MIPI Sensor Working Group Chair, provides early adopters of MIPI I3C with targeted guidance on how to ensure a successful and efficient implementation of MIPI I3C in their products.
Leveraging I2C as a foundation, many components of MIPI I3C will be familiar to implementers, but with guidance provided here, viewers will gain a clearer understanding of MIPI I3C’s new innovative features, how they will improve their systems, and what considerations should be made to fully leverage them.
Serial Communication & Embedded System InterfaceKUET
Before using this presentation , one have to familiar with Embedded system , Various serial port for communication channel,basic knowledge of Matlab , Arduino ..
This a great opportunity for the searcher to get information of this topic .80% of the information provided in this slide was taken from the sparkfun , a very well known website for hardware project and tutorials . One can get more helpful information through this website .
Now, if you are looking for straight forward guideline for Serial Communication , well you are in the right place to have .So , get this if you want to , it's completely open source ( editable ) .
Farewell.
This presentation provides the Hardware Architecture details to understand the Embedded Linux Fundamentals. This also briefs about various hardware & respective interface details of MarsBoard.
µIP (micro IP) is very small TCP/IP stack. Open source, widely used memory-constrained embedded product. This protocol stack intended for use with tiny 8- and 16-bit microcontrollers.
Developed by Adam Dunkels
This presentation provides an brief introduction about arduino hardware & its block diagram, integrated development environment, sketches, and USB programming. This also provides the arduino functions for digital input / output, inter intergrated circuit, serial peripheral interface, universal asynchronous serial interfaces.
The RUGGEDCOM RS416 is a utility grade serial device server with an integrated, fully managed Ethernet switch, designed to operate reliably in electrically harsh and climatically demanding environments.
Communication protocols in Embedded Systems. This presentation focused mainly on lower level protocols. Ideal for the beginner to build understanding on these protocols like I2C, USB, SPI etc.
MIPI DevCon 2016: A Developer's Guide to MIPI I3C ImplementationMIPI Alliance
In this presentation, Intel's Ken Foust, MIPI Sensor Working Group Chair, provides early adopters of MIPI I3C with targeted guidance on how to ensure a successful and efficient implementation of MIPI I3C in their products.
Leveraging I2C as a foundation, many components of MIPI I3C will be familiar to implementers, but with guidance provided here, viewers will gain a clearer understanding of MIPI I3C’s new innovative features, how they will improve their systems, and what considerations should be made to fully leverage them.
Serial Communication & Embedded System InterfaceKUET
Before using this presentation , one have to familiar with Embedded system , Various serial port for communication channel,basic knowledge of Matlab , Arduino ..
This a great opportunity for the searcher to get information of this topic .80% of the information provided in this slide was taken from the sparkfun , a very well known website for hardware project and tutorials . One can get more helpful information through this website .
Now, if you are looking for straight forward guideline for Serial Communication , well you are in the right place to have .So , get this if you want to , it's completely open source ( editable ) .
Farewell.
This presentation provides the Hardware Architecture details to understand the Embedded Linux Fundamentals. This also briefs about various hardware & respective interface details of MarsBoard.
µIP (micro IP) is very small TCP/IP stack. Open source, widely used memory-constrained embedded product. This protocol stack intended for use with tiny 8- and 16-bit microcontrollers.
Developed by Adam Dunkels
This presentation provides an brief introduction about arduino hardware & its block diagram, integrated development environment, sketches, and USB programming. This also provides the arduino functions for digital input / output, inter intergrated circuit, serial peripheral interface, universal asynchronous serial interfaces.
Drone (Quadcopter) full project report by Er. ASHWANI DIXITAshwani Dixit
This is a Fully completed Mechanical Engineering Final Year Project Report of Drone ( Quadcopter ) by Ashwani Dixit from MITM, Ujjain .
for word file of that report you can contact me - ashwanidixit49@gmail.com
Thankyou !!!!!!!!!
Workshop to help brand leaders write brand plans that everyone in the organization can follow. Case Study, using fictional “Gray’s Cookies” brand to complete a Brand Plan, which is the final stage of our overall Beloved Brands planning process.
Extreme Manufacturing Solutions
Operations Performance Analytics (OPA)
Business alignment - Over time, the proliferation of devices has created unnecessary complexity. Control Center delivers centralized visibility and granular control of network resources. One click can equal a thousand actions when you manage your network. Control Center can even manage beyond Extreme Networks switching, routing, and wireless hardware to deliver standards-based control of other vendors’ network equipment.
Pairing assets with intelligent sensors to gather, analyze, and communicate data is driving enormous new efficiencies in manufacturing and business operations. Just as in the consumer markets, where the first generation of personal fitness monitors and smart home devices leverage data sets to influence and shape events in the physical world, so too are operational efficiencies borne by the Internet of Things (IoT) generating high returns in manufacturing.
According to McKinsey, “business-to-business applications will account for nearly 70 percent of the value … from IoT in the next ten years.” The firm estimates that of the nearly $11 trillion a year in economic value generated globally, ‘nearly $5 trillion [will] be generated almost exclusively in B2B settings, including factories… such as those in manufacturing, agriculture, and even healthcare environments; work sites across mining, oil and gas, and construction; and, finally, offices.’
More informed decision-making and optimized operations across the extended supply chain are only some of the benefits. Wireless sensors, whether measuring hydrogen levels in the soil or temperature variables on the production line, are eliminating blind spots in traditional manufacturing processes and delivering a constant flow of data that optimize workflows. And while manufacturers have leveraged data in discrete applications for Manufacturing Execution Systems (MES) and Enterprise Manufacturing Intelligence (EMI) systems for years, the growth of sensors, real-time dashboards, cloud-applications, and mobile technologies are delivering new degrees of actionable intelligence to the precise location at the precise time it can be optimally leveraged.
Yet this goal of seamlessly moving data across plant and business functions, and applying analytical tools to enable new insights, requires a new degree of visibility into the performance of manufacturing applications, networks, and systems. Traditionally monitoring tools used in factory environments are often isolated, closed, proprietary, and offer only a keyhole view of IT system performance.
This slide shows the functionalities of ASIX AX58400 EtherCAT to IO-Link Gateway solution, using ASIX’s own IO-Link Master Protocol Stack.
AX58400 EtherCAT to IO-Link gateway solution supports up to 8 IO-Link devices, such as smart sensors and actuators, through AX58400 EtherCAT Slave Controller with Dual-Core MCU and ASIX’s own IO-Link Master Protocol Stack. AX58400 is equipped with the highest-performing 480MHz ARM® Cortex®-M7 core, 240MHz ARM® Cortex®-M4 core that can operate in parallel, EtherCAT Slave Controller integrated with two embedded Fast Ethernet PHYs, and embedded 2Mbytes dual-bank Flash memory and 1Mbyte SRAM. This solution uses the highest-performing ARM® Cortex®-M7 core to process the IO-Link master protocol stack operation for supporting up to 8 IO-Link devices; and uses the ARM® Cortex®-M4 core to process EtherCAT slave protocol stack operation in parallel. Using AX58400 dual-core MCU architecture can effectively reduce the CPU load of microcontroller and generate a higher-performance EtherCAT slave to IO-Link master gateway solution.
ASIX has outstanding engineering teams to provide customers the professional and timely technical services. ASIX offers different technical services for AX58400 EtherCAT to IO-Link gateway solution to meet customer needs. For more product and services information, please contact ASIX Electronics Corp. via e-mail: sales@asix.com.tw, or visit ASIX website: https://www.asix.com.tw/.
Encryption in Microsoft 365 - ExpertsLive Netherlands 2024Albert Hoitingh
In this session I delve into the encryption technology used in Microsoft 365 and Microsoft Purview. Including the concepts of Customer Key and Double Key Encryption.
Key Trends Shaping the Future of Infrastructure.pdfCheryl Hung
Keynote at DIGIT West Expo, Glasgow on 29 May 2024.
Cheryl Hung, ochery.com
Sr Director, Infrastructure Ecosystem, Arm.
The key trends across hardware, cloud and open-source; exploring how these areas are likely to mature and develop over the short and long-term, and then considering how organisations can position themselves to adapt and thrive.
Transcript: Selling digital books in 2024: Insights from industry leaders - T...BookNet Canada
The publishing industry has been selling digital audiobooks and ebooks for over a decade and has found its groove. What’s changed? What has stayed the same? Where do we go from here? Join a group of leading sales peers from across the industry for a conversation about the lessons learned since the popularization of digital books, best practices, digital book supply chain management, and more.
Link to video recording: https://bnctechforum.ca/sessions/selling-digital-books-in-2024-insights-from-industry-leaders/
Presented by BookNet Canada on May 28, 2024, with support from the Department of Canadian Heritage.
DevOps and Testing slides at DASA ConnectKari Kakkonen
My and Rik Marselis slides at 30.5.2024 DASA Connect conference. We discuss about what is testing, then what is agile testing and finally what is Testing in DevOps. Finally we had lovely workshop with the participants trying to find out different ways to think about quality and testing in different parts of the DevOps infinity loop.
LF Energy Webinar: Electrical Grid Modelling and Simulation Through PowSyBl -...DanBrown980551
Do you want to learn how to model and simulate an electrical network from scratch in under an hour?
Then welcome to this PowSyBl workshop, hosted by Rte, the French Transmission System Operator (TSO)!
During the webinar, you will discover the PowSyBl ecosystem as well as handle and study an electrical network through an interactive Python notebook.
PowSyBl is an open source project hosted by LF Energy, which offers a comprehensive set of features for electrical grid modelling and simulation. Among other advanced features, PowSyBl provides:
- A fully editable and extendable library for grid component modelling;
- Visualization tools to display your network;
- Grid simulation tools, such as power flows, security analyses (with or without remedial actions) and sensitivity analyses;
The framework is mostly written in Java, with a Python binding so that Python developers can access PowSyBl functionalities as well.
What you will learn during the webinar:
- For beginners: discover PowSyBl's functionalities through a quick general presentation and the notebook, without needing any expert coding skills;
- For advanced developers: master the skills to efficiently apply PowSyBl functionalities to your real-world scenarios.
UiPath Test Automation using UiPath Test Suite series, part 4DianaGray10
Welcome to UiPath Test Automation using UiPath Test Suite series part 4. In this session, we will cover Test Manager overview along with SAP heatmap.
The UiPath Test Manager overview with SAP heatmap webinar offers a concise yet comprehensive exploration of the role of a Test Manager within SAP environments, coupled with the utilization of heatmaps for effective testing strategies.
Participants will gain insights into the responsibilities, challenges, and best practices associated with test management in SAP projects. Additionally, the webinar delves into the significance of heatmaps as a visual aid for identifying testing priorities, areas of risk, and resource allocation within SAP landscapes. Through this session, attendees can expect to enhance their understanding of test management principles while learning practical approaches to optimize testing processes in SAP environments using heatmap visualization techniques
What will you get from this session?
1. Insights into SAP testing best practices
2. Heatmap utilization for testing
3. Optimization of testing processes
4. Demo
Topics covered:
Execution from the test manager
Orchestrator execution result
Defect reporting
SAP heatmap example with demo
Speaker:
Deepak Rai, Automation Practice Lead, Boundaryless Group and UiPath MVP
Securing your Kubernetes cluster_ a step-by-step guide to success !KatiaHIMEUR1
Today, after several years of existence, an extremely active community and an ultra-dynamic ecosystem, Kubernetes has established itself as the de facto standard in container orchestration. Thanks to a wide range of managed services, it has never been so easy to set up a ready-to-use Kubernetes cluster.
However, this ease of use means that the subject of security in Kubernetes is often left for later, or even neglected. This exposes companies to significant risks.
In this talk, I'll show you step-by-step how to secure your Kubernetes cluster for greater peace of mind and reliability.
State of ICS and IoT Cyber Threat Landscape Report 2024 previewPrayukth K V
The IoT and OT threat landscape report has been prepared by the Threat Research Team at Sectrio using data from Sectrio, cyber threat intelligence farming facilities spread across over 85 cities around the world. In addition, Sectrio also runs AI-based advanced threat and payload engagement facilities that serve as sinks to attract and engage sophisticated threat actors, and newer malware including new variants and latent threats that are at an earlier stage of development.
The latest edition of the OT/ICS and IoT security Threat Landscape Report 2024 also covers:
State of global ICS asset and network exposure
Sectoral targets and attacks as well as the cost of ransom
Global APT activity, AI usage, actor and tactic profiles, and implications
Rise in volumes of AI-powered cyberattacks
Major cyber events in 2024
Malware and malicious payload trends
Cyberattack types and targets
Vulnerability exploit attempts on CVEs
Attacks on counties – USA
Expansion of bot farms – how, where, and why
In-depth analysis of the cyber threat landscape across North America, South America, Europe, APAC, and the Middle East
Why are attacks on smart factories rising?
Cyber risk predictions
Axis of attacks – Europe
Systemic attacks in the Middle East
Download the full report from here:
https://sectrio.com/resources/ot-threat-landscape-reports/sectrio-releases-ot-ics-and-iot-security-threat-landscape-report-2024/
Essentials of Automations: Optimizing FME Workflows with ParametersSafe Software
Are you looking to streamline your workflows and boost your projects’ efficiency? Do you find yourself searching for ways to add flexibility and control over your FME workflows? If so, you’re in the right place.
Join us for an insightful dive into the world of FME parameters, a critical element in optimizing workflow efficiency. This webinar marks the beginning of our three-part “Essentials of Automation” series. This first webinar is designed to equip you with the knowledge and skills to utilize parameters effectively: enhancing the flexibility, maintainability, and user control of your FME projects.
Here’s what you’ll gain:
- Essentials of FME Parameters: Understand the pivotal role of parameters, including Reader/Writer, Transformer, User, and FME Flow categories. Discover how they are the key to unlocking automation and optimization within your workflows.
- Practical Applications in FME Form: Delve into key user parameter types including choice, connections, and file URLs. Allow users to control how a workflow runs, making your workflows more reusable. Learn to import values and deliver the best user experience for your workflows while enhancing accuracy.
- Optimization Strategies in FME Flow: Explore the creation and strategic deployment of parameters in FME Flow, including the use of deployment and geometry parameters, to maximize workflow efficiency.
- Pro Tips for Success: Gain insights on parameterizing connections and leveraging new features like Conditional Visibility for clarity and simplicity.
We’ll wrap up with a glimpse into future webinars, followed by a Q&A session to address your specific questions surrounding this topic.
Don’t miss this opportunity to elevate your FME expertise and drive your projects to new heights of efficiency.
Neuro-symbolic is not enough, we need neuro-*semantic*Frank van Harmelen
Neuro-symbolic (NeSy) AI is on the rise. However, simply machine learning on just any symbolic structure is not sufficient to really harvest the gains of NeSy. These will only be gained when the symbolic structures have an actual semantics. I give an operational definition of semantics as “predictable inference”.
All of this illustrated with link prediction over knowledge graphs, but the argument is general.
GraphRAG is All You need? LLM & Knowledge GraphGuy Korland
Guy Korland, CEO and Co-founder of FalkorDB, will review two articles on the integration of language models with knowledge graphs.
1. Unifying Large Language Models and Knowledge Graphs: A Roadmap.
https://arxiv.org/abs/2306.08302
2. Microsoft Research's GraphRAG paper and a review paper on various uses of knowledge graphs:
https://www.microsoft.com/en-us/research/blog/graphrag-unlocking-llm-discovery-on-narrative-private-data/
JMeter webinar - integration with InfluxDB and GrafanaRTTS
Watch this recorded webinar about real-time monitoring of application performance. See how to integrate Apache JMeter, the open-source leader in performance testing, with InfluxDB, the open-source time-series database, and Grafana, the open-source analytics and visualization application.
In this webinar, we will review the benefits of leveraging InfluxDB and Grafana when executing load tests and demonstrate how these tools are used to visualize performance metrics.
Length: 30 minutes
Session Overview
-------------------------------------------
During this webinar, we will cover the following topics while demonstrating the integrations of JMeter, InfluxDB and Grafana:
- What out-of-the-box solutions are available for real-time monitoring JMeter tests?
- What are the benefits of integrating InfluxDB and Grafana into the load testing stack?
- Which features are provided by Grafana?
- Demonstration of InfluxDB and Grafana using a practice web application
To view the webinar recording, go to:
https://www.rttsweb.com/jmeter-integration-webinar
AI for Every Business: Unlocking Your Product's Universal Potential by VP of ...
EtherCAT as a Master Machine Control Tool Galil Webinar
1. Galil Motion Control
Matt Klint
Applications Engineer
Galil Motion Control
EtherCAT as a Master Machine Control Tool
ELECTROMATE
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2. Agenda
• Galil Motion Control
• About
• Introduction to EtherCAT
• Origins
• Communication Format
• Ethernet vs. EtherCAT
• Hardware and Physical Layout
• Galil’s DMC-500x0 EtherCAT Master
• Features
• Configuration and Setup
• Setup Example
• Summary
• Cost and advantages of an EtherCAT control network
• Q&A
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3. About Galil
Established Reputation 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 110 consecutive quarters
• Over 750,000 motion controllers and PLCs delivered
Excellent Engineering Support and Service
• Worldwide network of factory trained reps & distributors
• Support team with over 100 years combined motion control experience
• Online support tools at www.galil.com
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4. Communication Protocols
• Standardization allows cross platform integration
• Easily attainable infrastructure lowers costs
• Modular Design
• Modules are easily replaceable
• Additional modules can be added as needed
• Wide market with dozens of vendors per type
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5. EtherCAT Origins
Ethernet for Control Automation Technology
• Invented by Beckhoff Automation in 2003
• Ethernet based fieldbus, optimized for industrial automation control
• Based on CANOpen, a device profile for embedded systems used in
automation
• Standards defined and maintained by the EtherCAT Technology Group
(ECTG)
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6. EtherCAT and Ethernet
• Ethernet
• Designed to move large amounts of data through many different nodes
• Able to route data to and from billions of separate addresses allowing communication
across vast networks
• Large overhead involved in encapsulating, routing and formatting data
• Software handles extraction and processing of data
• EtherCAT
• Uses standard Ethernet hardware, CAT5 cabling and Network Interface Cards (NIC)
• Streamlines Ethernet communication at the hardware level
• Data processing on slave devices is handled “on the fly” via FPGA or ASIC, minimizing
latency
• Initial setup and configuration required
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8. EtherCAT Frame
An EtherCAT frame is very similar to an Ethernet frame:
• Ethernet Header
• EtherType 0x08A4 specifies EtherCAT
• EtherCAT Header
• Data Length: 11 bits
• Reserved: 1 bit
• Protocol type: 4 bits (0x01 indicates CoE, CAN over EtherCAT)
• EtherCAT data: 46 – 1496 bytes
• Working counter: 2 bytes
• CRC (Checksum): 4 bytes
EtherCAT Frame
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9. EtherCAT Communication
• Each drive on the network has a unique address, set by hardware
• Master/Slave configuration with the EtherCAT Master sending and
requesting data from the Slave
• Data not addressed to a particular slave are forwarded along to the
network
• Minimal processing time can provide cycle update rates of up to
32kHz
• Network Layout size is limited only by the allowable lengths of CAT5
Ethernet cable, up to 100 m
• Increased noise immunity due to reliance on Ethernet physical
components
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10. Each cubicle is an EtherCAT Slave, each engineer is told where to sit by an SDO
The boss is the EtherCAT Master, sending instructions (PDOs) out to the engineers
each morning and picking up their work at quitting time.
EtherCAT Communication Analogy
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11. Object Dictionary: x6060
• Profile Position
Master sends position commands to the Slave, slave handles profiling parameters
• Profile Velocity
Master sends velocity commands to the Slave, slave handles profiling parameters
• Profile Torque
Master sends torque commands to the Slave, slave handles profiling parameters
• Cyclic Position
Position is continuously updated by the master, master handles profiling parameters
• Cyclic Velocity
Speed is continuously updated by the master, master handles profiling parameters
• Cyclic Torque
Torque is continuously updated by the master, master handles profiling parameters
EtherCAT Operation Modes
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12. Master
• Can be any software and or hardware configured to assemble,
send and receive EtherCAT datagrams
• Requires only standard Ethernet physical layer components for
communication
• Facilitates coordination between EtherCAT slaves, writing and
receiving data from each slave in an EtherCAT frame
• In motion control applications, the relevant data sent to the
drives are profiling data
• The data requested are position and input status
EtherCAT Master
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13. • Slave
• Reads and processes profiling data
• Writes position, input and drive status for return to the master
• Can be configured in for multiple modes of operation
• All slaves contain specific spaces in memory where data can be
written
• These spaces are called Objects, the entire memory space is
called the Object Dictionary
• Each object has it’s own address, specified as an index/sub index
• Example, operation mode data from the Master is written to the
x6060 Object in the slave’s dictionary
EtherCAT Slave
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14. SDOs and PDOs
Data is moved along an EtherCAT network using two protocols, SDOs and PDOs
SDO: Service Data Object
• SDOs can be sent at any time, before, after or during real time operation of
the network but require additional communication overhead
• As a result SDO usage is typically only used for network setup commands
PDO: Process Data Object
• PDOs contain the raw operational data with minimal overhead and thus are
used for real time processes, like motion and I/O control
• PDO’s can only be used once they are “mapped” using SDOs
• Mapping sets up which byte in each PDO goes to which memory address on
the slave
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15. SDO vs. PDO Summary
SDO PDO
Transfer confirmation No transfer confirmation
Client/server model Peer-to-peer model
Device Configuration, PDO mapping High priority transfer of small amounts of
data
Can be sent at any time Can only be used after configuration using
SDOs
Significant communication overhead No additional protocol overhead
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16. The EtherCAT Slave State Machine
State Allowed Communication
Init No User Communication
Pre-Op SDO Communication Only
Safe-Op SDO, PDO Communication Allowed
Output PDO info ignored
Operational PDO, SDO Communication Allowed
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23. The DMC-500x0 EtherCAT Master
• Includes all the features of our flagship
DMC-40x0 series controller with the
addition of EtherCAT drive support for up
to 8 axes in Cyclic Position Mode*
• Only motion controller in the industry
with the ability to mix and match local
and EtherCAT drives
• Easily configurable and designed with
compatibility and flexibility in mind
• Multiple drive vendors supported
• Compatible with Galil’s entire line of
internal servo and stepper motor
amplifiers
*Cyclic Torque mode supported on select models
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24. The DMC-500x0 EtherCAT Master
Currently Supported I/O Features
• Forward and reverse limit switch inputs
• Home sensor input
• Hardware latch/touch probe
These I/O features allow access to the DMC-500x0 commands and
subroutines specific to these inputs such as:
• #LIMSWI automatic subroutine
• FI/FE/HM commands
• AL/RL commands
• #ECATERR automatic subroutine
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25. DMC-500x0 Hardware Layout
DMC-50070
EtherCAT
Drive 1
EtherCAT
Drive 2
EtherCAT
Drive 3
Servo
Motor
Servo
Motor
Servo
Motor
Analog
and
Digital
I/O
Stepper
Motor
Servo
Motor
Servo
Motor
Stepper
Motor
Stepper
Driver
Stepper
Driver
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26. Compatible EtherCAT Drives
Currently Supported Drives
• AMC DZEANTU-020B080
• Copley XenusPLUS XEL-230-36
• Panasonic Minas A5B
• Sanyo-Denki SANMOTION RS2A01A0KA4
• Yaskawa Sigma-5 SGDV-R90FE1A
Galil is actively working to include support for additional vendors and is seeking input
from customers. Contact an Applications Engineer to discuss drive support options.
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27. Summary
• The EtherCAT protocol is gaining traction as a robust and efficient solution to
demanding, large scale automation applications
• Built on the Physical and Data Link layers of Ethernet communication, making the
technology more accessible right off the bat
• Higher controller/drive cost is offset by the use of pre existing, easily attainable
hardware
• Due to the EtherCAT communication protocol, networks are easily expandable,
modifiable and simple to maintain
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28. Please submit your questions regarding any part of this presentation or about
EtherCAT in general at this time
Additionally, please contact Galil’s dedicated Applications Engineering team anytime
with additional questions or comments:
Q & A
1 800 377 6329
support@galil.com
In Canada contact:
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