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EtherCAT SubDevice2.03.00 |
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EtherCAT SubDevice2.03.00 |
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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 | Yes |
| SoE | Sercos over EtherCAT service support. | Yes | Yes |
| 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 (100µs DC, 2 RxPDOs/2 TxPDOs, 8bytes Input Process Data/8bytes Output Process Data) | Average = 17.97µs, Max = 18.10µs |
| CiA402 Demo (100µs DC, 3 RxPDOs/3 TxPDOs, 39bytes Input Process Data/39bytes Output Process Data) | Average = 27.42µs, Max = 27.80µs | |
| PDI ISR Execution Time | Simple Demo (100µs DC, 2 RxPDOs/2 TxPDOs, 8bytes Input Process Data/8bytes Output Process Data) | Average = 9.203µs, Max = 9.325µs |
| CiA402 Demo (100µs DC, 3 RxPDOs/3 TxPDOs, 39bytes Input Process Data/39bytes Output Process Data) | Average = 11.25µs, Max = 11.75µs | |
| Latency | Process Path (PRU Clock Frequency @ 200MHz) | Average = 400ns, Max = 410ns |
| Auto Forward Path (Reverse Path) (PRU Clock Frequency @ 200MHz) | Average = 340ns, Max = 360ns | |
| Cable redundancy support | Yes |
💡Please note that minimum DC cycletime supported depends on the process data size and ECAT application implementation in DC synchronous mode.
| 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 |
❗️In standard SDK examples, the Loop Task consumes 100% CPU in operate mode. By this the thread defines lowest priority during operation.
💡In premium SDK examples, the Loop Task is redesigned to achieve reduced CPU utilization and flexible thread priority configuration.
| CycleTime | AM64x EVM | AM243x EVM | AM243x LP | AM263Px LP | AM261x LP | |||||
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| (DC) | Simple-401 | CiA-402 | Simple-401 | CiA-402 | Simple-401 | CiA-402 | Simple-401 | CiA-402 | Simple-401 | CiA-402 |
| 4ms | 1.93 | 7.60 | 1.94 | 7.61 | 1.80 | 7.63 | 3.41 | 17.91 | 3.11 | 13.97 |
| 250µs | 13.80 | 22.38 | 13.22 | 21.53 | 13.06 | 21.34 | 26.91 | 49.95 | 24.01 | 39.08 |
| 200µs | 16.54 | 26.86 | 16.27 | 25.32 | 15.90 | 25.95 | 33.46 | 60.02 | 29.45 | 46.83 |
| 150µs | 21.57 | 33.49 | 21.29 | 31.72 | 21.12 | 33.15 | 45.34 | 71.35 | 38.43 | 60.68 |
| 100µs | 32.81 | 47.57 | 30.96 | 47.35 | 33.18 | 46.67 | 73.54 | 98.66 | 60.74 | 88.18 |
| 50µs | 69.09 | 95.99 | 66.13 | 92.73 | 63.60 | 94.70 | 100.0 | 100.0 | 100.0 | 100.0 |
💡 CPU load is measured in DC Synchron mode with 401-Simple and CiA402 demo examples. CPU load is specified in % and is an average of 500 CPU load samples measured at the mentioned cycle time. CPU load is measured with the define ENABLE_LOOP_TASK_SYNC_TO_EVENTS set to 1.
💡 CPU load depends on the EtherCAT SubDevice application. If ENABLE_LOOP_TASK_SYNC_TO_EVENTS is set to 0 then Appl_LoopTask shall consume 100% CPU in OP mode.
| Simple SubDevice Demo | Read Only Memory | 209829 | Bytes |
| Random Access Memory | 113813 | Bytes | |
| CiA402 Demo | Read Only Memory | 207530 | Bytes |
| Random Access Memory | 177189 | Bytes | |
| Webserver SubDevice Demo | Read Only Memory | 278689 | Bytes |
| Random Access Memory | 241011 | Bytes | |
| Simple Esi Parser SubDevice Demo | Read Only Memory | 338443 | Bytes |
| Random Access Memory | 198982 | Bytes |
1.9.8