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Panel
titleProtocol Technical Data

Following technical data apply for EtherCAT Slave v5.2.0.x:

FeatureDescription
Maximum number of cyclic input data1024 bytes
Maximum number of cyclic output data1024 bytes
Acyclic communication (CoE)

SDO

SDO master-slave

SDO slave-slave (depending on master capability)

Typecomplex slave
Number of FMMU channels

8

Number of Sync Manager channels

4

Distributed Clocks

supported with 32 bit timestamps and Isochronous PDI functionality (Sync0, Sync1)

Support of Synchronization Modes
  • Freerun (Slave’s application is not synchronized to EtherCAT)
  • Synchron with SYNCMAN Event (Slave’s application is synchronized to the SM2/3 Event)
  • Synchron with SYNC Event (Slave’s application is synchronized to the SYNC0 or SYNC1 Event)
Supported Protocols
  • SDO client and server side protocol
  • CoE emergency messages (CoE stack)
  • Ethernet over EtherCAT (EoE)
  • File Access over EtherCAT (FoE)
Supported Features
  • PDI watchdog
  • EtherCAT mailbox handling
  • EtherCAT state machine handling
  • master-to-slave SDO communication
  • slave-to-slave SDO communication
  • integrated CoE object dictionary (ODV3)
  • Ethernet over EtherCAT (EoE) handling
  • File Access over EtherCAT (FoE) server
Ethernet
  • 2 Ethernet Interfaces 100BASE-TX/FX, 1 green Link/Activity LED per Ethernet Interface
  • integrated Dual-PHY (supports Auto-Negotiation and Auto-Crossover)


Restrictions

EtherCAT Slave Stack

  • AoE application interface not yet available for host application on DPM in Release Version v5.1.0.xFoE for for firmare upload is supported, but application interface not yet available for host application on DPM in Release Version v5.1.0.x(planned for future release)
  • VoE (Vendor specific protocol over EtherCAT) is not yet available for host application on DPM in Release Version v5.1.0.x(planned for future release)
  • SoE (Servo Profile over EtherCAT) is not supported

ESC - EtherCAT Slave Controller

  • no DC Latch Functionality
  • no support of bit-wise FMMU mapping (Exception: Fill Status of Transmit Mailbox)
  • restricted DC Sync-Signal Generation
    • no Single-Shot Mode support
    • no Acknowledge Mode support
  • restricted DC Control Functionality
    • no adjustment of Register Speed Counter Start (0x0930:0x931)
    • no showing of Register Speed Counter Diff (0x0932:0x933)
  • no MIO (PHY Management Interface) access from EtherCAT Master side
  • no physical Read-Write commands supported (APRW, FPRW, BRW)

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Panel
titleFirmware Functions

The real-time protocol stack is fully integrated into a netX firmware for specific use case in order to provide a common set of netX firmware functions accross different protocol variants:

  • netX90 internal flash
    • netX4x00 in external SPI
    Firmware VariantsUse Case AUse Case BUse Case C
    Use Case summary

    netX90 COM CPU firmware for small footprint, low cost and function optimized slave devices

    • no external SPI / SQI Flash required for COM CPU
    • no external SDRAM required for COM CPU

    same as Use Case A, but netX90 APP CPU

    • uses external SPI Flash
    • may use external SDRAM

    full featured firmware for highest function requirements

    • external SDRAM is required for COM CPU
    • external SPI Flash is required for COM CPU
    netX support
    • netX90
    • netX90 with ext FLASH
    • netX90 with ext SDRAM and ext FLASH
    • netX4x00 with ext SDRAM and ext FLASH

    FW structure


    Host Interface

    Dual Port Memory interface with following channels:

    • Channel 0 - Real-Time Ethernet Protocol API
      • exchange cyclic IO data
      • use acyclic protocol services
    • Channel 1 - Network Services
      • Socket API - Enables opening a communication socket using the integrated TCP/IP stack resources, i.e. same MAC address
      • Ethernet (NDIS) API - Enables sending and receiving Ethernet frames using a separate MAC address, i.e. application host with its own TCP/IP stack
      • Web API - Enables forwarding specific URL (HTTP GET/POST) requests to user applications, e.g. to build custom webpage contents
    Diagnosis InterfacenetX Diagnostic and Remote Access
    Integrated Flash File SystemN/A

    N/A

    		Power-fail safe flash file system on external SPI flash is used
    Remanent Data Storage

    Power-fail safe storage of up to 16KB of protocol remanent data in netX90 internal flash

    		Power-fail safe storage of protocol remanent data in dedicated partition in extenal SPI flash. Size and position of remanent storage area shall be configured in FDL.
    Device Data

    device production data (Serial number, MAC address, production data etc.) shall be stored in FDL in :

    • netX90 internal flash

    netX 90 internal flash

    Firmware Transfer



    Expand
    titleto internal netX90 flash ...
    • via integrated web server
    • via Host Interface (DPM, SPM)

    (warning) Note:

    due to limited size (max. 380KB) of FW udate are in internal flash, only following files can be transfered:

    • individual firmware files (i.e. comfw.nxi or appfw.nai) if the size of the a file is less that 380KB
    • max. 380KB big FWUPDATE.zip file with predefined structure



    Expand
    titleto the host application...
    • via integrated webserver and Web API  (DPM Channel 1)
    • host application need to handle storage of the frimware in external SPI flash


    		to netX flash file system located on external SPI Flash
    Firmware UpdateFirmware check and installation supported through calling the Maintenance Firmware (netX 90/4000)
    • from internal netX90 flash
    • from external SPI flash
    • from Flash File System located on external SPI Flash
    Configurationby sending packets to the firmware

    by sending packets to the firmware

    or by using Communication Studio configuration database file from local flash file system

    Integrated Basic Webserver

    The basic web server has the following features:

    • \netx  - Provides a graphical user interface to other functions (diag, firmware, reset, etc.)      
    • \netx\diag  - Provides information on the netX device (current uptime, MAC address, device   number, serial number, etc.
    • \netx\firmware  - Enables uploading a new firmware update file to netX flash
    • \netx\reset  - Initiates a netX reset cycle, i.e. to install a newly uploaded firmware
    • \  - URL requests are forwarded to the user application via DPM (web interface API)
    Webserver extensionN/A

    Basic web server is extended with functions that provide access to the content files on a local Flash file system (SQI Flash).

    • \netx\files  - Enables streaming of custom web content according to media types (i.e. txt, js, xhtml, jpeg, json, etc.) located in the Flash file system
    Tag List Options

    Firmware supports certain modification of the functionality via Tag List, in particular:

    • Webserver port number or deactivation
    • Activation of Ethernet Interface in DPM Channel1
    • Selection of target for remanent data storage (netX local or external host)
    HW Sync Signalsupported via netX signal XC_TRIGGER0/1
    Protocol Specific LED Indicators

    Network specific status indicators with COM0 / COM1 LEDs:

    • RUN
    • ERR
    Secure Bootsupported by EtherCAT Slave V5.4.0.0 and later, see Support of Secure Boot with netX90 for more details
    Limitations
    • FW functions are limited by available internal RAM / Flash
    • COM firmware size is limited to 500KB
    • FW functions are limited by available internal RAM / Flash
    		TBD


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