Feature | Description | Implementation |
---|---|---|
Distributed Clocks | By using distributed clocks the EtherCAT real-time Ethernet protocol is able to synchronize the time in all local bus devices within a very narrow tolerance range. | Yes |
Object Dictionary | freely definable, only limited by ressources available. | Yes |
CiA 402 | This profile standardizes the functional behavior of controllers for servo drives, frequency inverters, and stepper motors. | Yes |
Mailbox Queue | Mailbox services will be stored in a queue. Mailbox services can be processed in parallel. | Yes |
AoE | ADS over EtherCAT service support. | No |
CoE | CANopen over EtherCAT service support. | Yes |
Complete Access support | Accessing all entries of an object with one SDO service is supported. | Yes |
Segmented SDO support | Segmented SDO service is supported. | Yes |
SDO Response Interface | If a SDO response cannot be generated immediately, return ABORTIDX_WORKING. | Yes |
Diagnosis support | Diagnosis messages are supported. | Yes |
Emergency support | Emergency messages are supported. | Yes |
VoE | Vendor Specific Protocol over EtherCAT service support. | No |
SoE | Sercos over EtherCAT service support. | Planned |
EoE | Ethernet over EtherCAT service support. | Planned |
FoE | File access over EtherCAT service support. | Planned |
OP State requires process data | Transition from SafeOP to OP State requires process data. | Yes |
Explicit device ID | Explicit device ID requests are handled. | No |
Error Counters | RX Invalid Frame Counter Port 0/1 | Yes |
RX ERR Counter Port 0/1 | Yes | |
Forward Error Counter Port 0/1 | Yes | |
EtherCAT Processing Unit Counter Port 0/1 | Yes |
Feature | Detail | Value |
---|---|---|
EtherCat Commands | FMMU | 4 |
SYNC Master | 4 | |
Processdata | Maximum Input | 1024 Bytes |
Maximum Output | 1024 Bytes | |
Cycletime | 31.25 µs | |
Distributed Clocks | Cycletime | 50 µs |
Accuracy | 64-bit | |
SYNC0 | generation single shot and cyclic mode support | |
SYNC1 | SYNC1 cycle time multiple of SYNC0 cycle time | |
SYNC jitter | TBD | |
Latency | Process path | TBD |
Auto forward path | TBD | |
Cable redundancy support |
AM64xx Simple Demo | Read Only Memory | 246744 | Bytes |
Random Access Memory | 136241 | Bytes | |
AM64xx CiA402 Demo | Read Only Memory | 247512 | Bytes |
Random Access Memory | 136984 | Bytes | |
AM64xx Conformance Test Demo | Read Only Memory | 245977 | Bytes |
Random Access Memory | 136113 | Bytes |