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EtherCAT SubDevice2.02.00 |
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EtherCAT SubDevice2.02.00 |
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| Feature | Description | Standard | Premium |
|---|---|---|---|
| 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 | Yes |
| Object Dictionary | Freely definable, only limited by available resources. | Yes | Yes |
| CiA 402 | This profile standardizes the functional behavior of controllers for servo drives, frequency inverters, and stepper motors. | Yes | Yes |
| Mailbox Queue | Mailbox services will be stored in a queue. Mailbox services can be processed in parallel. | Yes | Yes |
| AoE | ADS over EtherCAT service support. | Yes | Yes |
| CoE | CANopen over EtherCAT service support. | Yes | Yes |
| Complete Access support | Accessing all entries of an object with one SDO service is supported. | Yes | Yes |
| Segmented SDO support | Segmented SDO service is supported. | Yes | Yes |
| SDO Response Interface | If a SDO response cannot be generated immediately, return ABORTIDX_WORKING. | Yes | Yes |
| Backup Parameter support | Object entries are stored/restored in/from the NV memory. | No | Yes |
| Diagnosis support | Diagnosis messages are supported. | Yes | Yes |
| Emergency support | Emergency messages are supported. | Yes | Yes |
| VoE | Vendor Specific Protocol over EtherCAT service support. | No | No |
| SoE | Sercos over EtherCAT service support. | No | No |
| EoE | Ethernet over EtherCAT service support. | Yes | Yes |
| FoE | File access over EtherCAT service support. | Yes | Yes |
| OP State requires process data | Transition from SafeOP to OP State requires process data. | Yes | Yes |
| Explicit device ID | Explicit device ID requests are handled. | No | Yes |
| Error Counters | RX Invalid Frame Counter Port 0/1 | Yes | Yes |
| RX ERR Counter Port 0/1 | Yes | Yes | |
| Forwarded Error Counter Port 0/1 | Yes | Yes | |
| EtherCAT Processing Unit Error Counter Port 0/1 | Yes | Yes |
ℹ️ In case you are using standard and need premium, please contact your regional TI sales representative for additional details.
Sync Jitter measurements done using TwinCAT 3.1 along with C6015-0020 (Beckhoff PLC) with cycle time at 50µs. Note that PRU Core Clock is running at 200MHz, unless mentioned otherwise.
| Feature | Detail | Value |
|---|---|---|
| Fieldbus Memory Management Units (FMMU) | Convert logical addresses into physical addresses by means of internal address mapping | 4 |
| SYNC Manager | Insure consistent and secure data exchange between EtherCAT MainDevice and local application of SubDevice | 4 |
| Processdata | Maximum Input | 1024 Bytes |
| Maximum Output | 1024 Bytes | |
| Cycle Time | Free run | 31.25 µs |
| DC mode | 50 µs | |
| Distributed Clocks | Accuracy | 64-bit |
| SYNC0 | Generation single shot and cyclic mode support | |
| SYNC1 | SYNC1 cycle time multiple of SYNC0 cycle time | |
| SYNC Jitter (Cycle Time 50 µs) | 15ns (Capture Duration = 65 hours) | |
| SYNC0 ISR Execution Time | Simple Demo (50µs DC, 2 RxPDOs/2 TxPDOs, 8bytes Input Process Data/8bytes Output Process Data) | Average = 6.222µs, Max = 6.80µs |
| CiA402 Demo (50µs DC, 3 RxPDOs/3 TxPDOs, 39bytes Input Process Data/39bytes Output Process Data) | Average = 9.766µs, Max = 10.00µs | |
| PDI ISR Execution Time | Simple Demo (50µs DC, 2 RxPDOs/2 TxPDOs, 8bytes Input Process Data/8bytes Output Process Data) | Average = 12.07µs, Max = 13.50µs |
| CiA402 Demo (50µs DC, 3 RxPDOs/3 TxPDOs, 39bytes Input Process Data/39bytes Output Process Data) | Average = 14.57µs, Max = 16.80µs | |
| Latency | Process Path (PRU Clock Frequency @ 200MHz) | Average = 400ns, Max = 410ns |
| Auto Forward Path (Reverse Path) (PRU Clock Frequency @ 200MHz) | Average = 340ns, Max = 360ns | |
| Process Path (PRU Clock Frequency @ 333MHz) | Average = 280ns, Max = 300ns | |
| Auto Forward Path (Reverse Path) (PRU Clock Frequency @ 333MHz) | Average = 220ns, Max = 240ns | |
| Cable redundancy support | Yes | |
| CPU Load | Due to the architecture of the ETG stack, the CPU load cannot be reliably measured | n.a. |
| Task | Prio | Changeable | Description |
|---|---|---|---|
| kbEepromTask | 4 | no | ESC EEPROM emulation |
| Appl_LoopTask | 8 | yes☆ | Mainloop Task |
| BELedTask | 8 | yes | LED Control Task |
| NVM_APP_WriteAsyncTask | 8 | yes | Non-volatile storage handling |
| BEPDItask | 16 | yes | PDI Interrupt Task |
| BESync0Task | 16 | yes | Sync0 Interrupt Task |
| BESync1Task | 16 | yes | Sync1 Interrupt Task |
| mainThread | 30 | yes | Initialization Task |
☆ Loop Task is taking 100% CPU in operate mode. By this the thread defines lowest priority during operation.
| Simple SubDevice Demo | Read Only Memory | 203151 | Bytes |
| Random Access Memory | 114922 | Bytes | |
| CiA402 Demo | Read Only Memory | 202692 | Bytes |
| Random Access Memory | 178318 | Bytes | |
| Conformance Test Demo | Read Only Memory | 195775 | Bytes |
| Random Access Memory | 113744 | Bytes | |
| Webserver SubDevice Demo | Read Only Memory | 224078 | Bytes |
| Random Access Memory | 534476 | Bytes | |
| Simple Esi Parser SubDevice Demo | Read Only Memory | 333601 | Bytes |
| Random Access Memory | 200095 | Bytes |
1.9.8