acontis - EC-Master - EtherCAT Master Stack

The EC-Master Stack is designed and optimized to run on different embedded (real time) operating systems.
Already existing implementations are available Linux (with and without Real-Time), Microsoft Windows® 10/11, Wind River VxWorksBlackBerry QNXIntervalZero RTX64, TenAsys INtime®, Integrity, Xenomai, On Time RTOS-32, RTEMS, FreeRTOS, eCos, TI-RTOS, T-Kernel and more operating systems.
The EtherCAT MainDevice stack, formerly Master, can be ported on any other embedded operating systems.

 

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Software Architecture

  • Application Programming Interface (API): Programming the EtherCAT MainDevice core in C/C++, C# and Python.
  • EtherCAT MainDevice Core: The key EtherCAT MainDevice functionality in the core layer. All protocol handling, e.g. process data transfer and mailbox protocols (CoE, EoE, FoE, AoE, SoE) are executed here. This is complemented by sophisticated diagnosis features.
  • Real-time Ethernet Driver: Data exchange between MainDevice and SubordinateDevice (SubDevice), formerly Slave. Zero-copy and/or polling techniques together with the core layer are supported to achieve best real-time performance and minimize CPU load.
  • MainDevice and Network Configuration: The integrated XML parser supports the EtherCAT Network Information (ENI) file defined in the EtherCAT specification.
  • Operating System Layer: The only OS specific layer. All operating system calls are executed here. To achieve best performance the most functions can be implemented using simple "C"-language macros.

For further information https://www.acontis.com/en/ethercat-master.html

Evaluation Version https://www.acontis.com/en/ethercat-support-eval-request.html

Evaluation Free https://www.acontis.com/en/ethercat-support-eval-request.html

Features according to ETG.1500 Master Classes

The ETG (EtherCAT Technology Group) has defined two EtherCAT Master Classes (ETG.1500) with a well defined set of Master functionalities:
Class A: Standard EtherCAT Master Device
Class B: Minimum EtherCAT Master Device
Additional Functionality, which can be considered to be optional, is described by Feature Packs. The Feature Pack describes all mandatory master functionality for a specific feature, e.g. Cable Redundancy.

Basic Features

Feature nameShort descriptionClass AClass B
Service CommandsSupport of all commandsXX
IRQ field in datagramUse IRQ information from Slave in datagram headerXX
Slaves with Device EmulationSupport Slaves with and without application controllerXX
EtherCAT State MachineSupport of ESM special behaviorXX
Error HandlingChecking of network or slave errors, e.g. Working CounterXX
VLANSupport VLAN TaggingX  -- (*2)  
EtherCAT Frame TypesSupport EtherCAT FramesXX
UDP Frame TypesSupport UDP Frames-- (*1)-- (*2)
Multiple InstancesOne control system operating multiple networksXX

Process Data Exchange

Feature nameShort descriptionClass AClass B
Cyclic PDOCyclic process data exchangeXX
Multiple TasksDifferent cycle tasks
Multiple update rates for PDO
XX
Frame repetitionSend cyclic frames multiple times to increase immunity-- (*1)-- (*2)

Network Configuration

Feature nameShort descriptionClass AClass B
Online scanningNetwork configuration functionality included in EtherCAT MasterXX
Reading ENINetwork Configuration taken from ENI fileXX
Compare Network configurationCompare configured and existing network configuration during boot-upXX
Explicit Device identificationIdentification used for Hot Connect and prevention against cable swappingXX
Station Alias AddressingSupport configured station alias in slave,
i.e. enable 2nd Address and use it
XX
Access to EEPROMSupport routines to access EEPROM via ESC registerXX

Mailbox Support

Feature nameShort descriptionClass AClass B
Support MailboxMain functionality for mailbox transferXX
Mailbox Resilient LayerSupport underlying resilient layerXX
Multiple Mailbox channels XX
Mailbox pollingPolling Mailbox state in slaves  XX

CAN application layer over EtherCAT (CoE)

Feature nameShort descriptionClass AClass B
SDO Up/DownloadNormal and expedited transferXX
Segmented TransferSegmented transferXX
Complete AccessTransfer the entire object (with all sub-indices) at onceXX
SDO Info serviceServices to read object dictionaryXX
Emergency MessageReceive Emergency messagesXX

Ethernet over EtherCAT (EoE)

Feature nameShort descriptionClass AClass B
EoE protocolServices for tunneling Ethernet frames. includes all specified EoE servicesXX
Virtual SwitchVirtual Switch functionalityXX
EoE Endpoint to Operation SystemsInterface to the Operation System on top of the EoE layerFP (*1)FP (*2)

File access over EtherCAT (FoE)

Feature nameShort descriptionClass AClass B
FoE protocolSupport FoE ProtocolXX
Firmware Up-/DownloadPassword, FileName should be given by the applicationXX
Boot StateSupport Boot-State for Firmware Up/DownloadXX

Servodrive-Profile over EtherCAT (SoE)

Feature nameShort descriptionClass AClass B
SoE ServicesSupport SoE ServicesXX

ADS over EtherCAT (AoE)

Feature nameShort descriptionClass AClass B
AoE ProtocolSupport AoE ProtocolXX

Vendor over EtherCAT (VoE)

Feature nameShort descriptionClass AClass B
VoE ProtocolExternal Connectivity supportedXX

Synchronization with Distributed Clock (DC)

Feature nameShort descriptionClass AClass B
DC supportSupport of Distributed ClockX-- (*2)
Continuous Propagation Delay compensationContinuous Calculation of the propagation delayX-- (*2)
Sync window monitoringContinuous monitoring of the Synchronization difference in the slavesX-- (*2)

Slave-to-Slave Communication

Feature nameShort descriptionClass AClass B
via MasterInformation is given in ENI file or can be part of any other network configuration. Copying of the data can be handled by master stack or master’s application. Required to support FSoE Safety slaves.XX

Master information

Feature nameShort descriptionClass AClass B
Master Object DictionarySupport of Master Object Dictionary (ETG.5001 MDP sub profile 1100)FP (*1)FP (*2)

Feature Packs

Feature nameShort descriptionClass AClass B
Cable RedundancyStay operational in case of cable break between two slavesFPFP
Hot ConnectAdd or remove additional slave devices during bus communication is in progress. Newly added slaves are automatically transferred into the OPERATIONAL state.FPFP
TCP-Server and Remote APIThe TCP-Server together with the Remote API Context.Scope.Library allows accessing EC-Master from a remote systemFPFP
EoE EndpointThe interface allows sending and receiving Ethernet frames to/from the EtherCAT networkFPFP

Feature ID: Unique identification used in ETG.1500 EtherCAT Master Classes
FP: Available as Feature Pack
*1: According to ETG.1500 Master Classes not mandatory for Class A
*2: According to ETG.1500 Master Classes not mandatory for Class B

New Features

 

Advantages

  • High performance and low CPU load to achieve fast update rates.
  • Ready-to-run for many operating systems.
  • Supporting the CPU architectures x86 (32 Bit und 64 Bit), ARM (32 Bit und 64 Bit) und PowerPC (PPC).
  • Available for many processors from Intel, Texas Instruments, ST, Broadcom, Nvidia, Renesas, NXP, Xilinx and Infineon.
  • Together with our services you get professional partnership setting up your custom control system. On request you may get the complete system integration.
  • Reliable and robust implementation. For example, the EC-Master Stack is running in the KUKA Robot Control and in controllers from Yaskawa, Lenze and Omron.
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