42 Reference
Introduction
The EtherCAT protocol provides deterministic communication over a standard
100 Mbit/s (100Base-TX) Fast Ethernet (IEEE 802.3u) connection. This makes it
suitable for the transmission of control and feedback signals between the
MotiFlex e180 and other EtherCAT enabled controllers. EtherCAT's 'CAN application
layer over EtherCAT' (CoE) capability allows Mint to implement a drive protocol based
on the CANopen DS 402 Device Profile for Drives and Motion Control.
The MotiFlex e180 incorporates a built-in multi-port EtherCAT slave controller,
providing two ports for connection to other equipment. This allows nodes to be
connected in many configurations such as a ring, star, or tree, with EtherCAT's self-
terminating technology automatically detecting breaks or an intended end of line.
Standard Ethernet switches can be used in EtherCAT networks.
The MotiFlex e180 has passed the formal EtherCAT conformance test, which is
performed using a network with a wide range of EtherCAT devices. It has also been
tested with many different types of master device to ensure interoperability, including:
• ABB AC500 PLC with EtherCAT master (CM579-ETHCAT).
• acontis technologies EC-master stack and EC-Win
• Beckhoff CX8000/9000 Embedded PC
• Beckhoff TwinCAT (soft master NC PTP)
• esd EtherCAT master
• Hilscher cifX PC card
• Konig KPA Master/Studio (v1.4.8.15)
• 3S CoDeSys v3 (Soft-PLC)
Supported mailbox protocols
•CoE
•FoE
•EoE
Synchronisation
The drive supports two synchronisation modes.
DC (distributed clock) synchronisation
DC synchronisation is preferred for all applications with multiple drives and
coordinated motion, since it provides the most precise synchronisation. The DC
mode compensates for the Ethernet hop delay. This means that independent of the
size of the network all nodes apply the demand values at the same time.
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