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Technical Data - V5

Technical Data - V5

Technical Data

The following technical data apply to EtherCAT SubDevice v5:

Feature

Description

Feature

Description

Maximum number of cyclic input data

1024 bytes (depending on the PDO layout)

Maximum number of cyclic output data

1024 bytes (depending on the PDO layout)

State machine

State machine according to the EtherCAT specification (includes BOOT state)

Object dictionary

CANopen-style object dictionary according to the EtherCAT specification

Object dictionary

Sercos object (IDN) dictionary according to Sercos II specification

Acyclic data transfer

SDO Up- and Download (Server) , CoE Emergency messages

Diagnosis

Firmware supports common diagnostic in the dual-port-memory for loadable firmware.

Diagnosis history object can be created by Application

Supported Features

  • PDI watchdog

  • EtherCAT mailbox handling

  • EtherCAT state machine handling

  • EtherCAT interrupt handling

  • MainDevice-SubDevice SDO communication

  • SubDevice-SubDevice SDO communication (depending on MainDevice capability)

  • integrated CoE object dictionary with application interface

  • Ethernet over EtherCAT (EoE) with access to raw Ethernet, Socket or Webserver interface

  • File Access over EtherCAT (FoE) server

  • Dynamic PDO mapping

  • Complete Access (SDO Read/Write All By Index)

Supported Protocols

  • SDO client and server side protocol

  • CoE (CAN application protocol over EtherCAT)

  • CoE emergency messages

  • SoE (Sercos over EtherCAT)

  • AoE (ADS over EtherCAT)

  • EoE (Ethernet over EtherCAT)

  • FoE (File Access over EtherCAT)

  • VoE (Vendor Profile over EtherCAT)

Type

Complex SubDevice

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 (SubDevice’s application is not synchronized to EtherCAT)

  • Synchron with SYNCMAN Event (SubDevice’s application is synchronized to the SM2/3 Event)

  • Synchron with SYNC Event (SubDevice’s application is synchronized to the SYNC0 or SYNC1 Event)

Ethernet

  • 2-port Ethernet Interface 100BASE-TX/FX, with a green Link/Activity LED per port

  • 1-port Ethernet Interface 100BASE-TX/FX, with a green Link/Activity LED

  • integrated Dual-PHY (supports Auto-Negotiation and Auto-Crossover)

Limitations

  • Number of objects that can be created in the Object Dictionary depends on the type of objects, available memory and if the object is created as virtual.

  • The amount of configured IO-data influences the minimum cycle time that can be reached.

  • No support of bit-wise FMMU mapping (Exception: Fill Status of Transmit Mailbox)

  • DC related functions only 32 bit wide

  • Timestamp object supports 64 bit as a local timestamp actually not writeable

  • No DC Latch functionality

  • 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 MainDevcie side

  • No physical Read-Write commands supported (APRW, FPRW, BRW)

Firmware Variants

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:

Firmware Variants

Use Case A

Use Case B

Use Case C

Firmware Variants

Use Case A

Use Case B

Use Case C

Use Case summary

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

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

    • Webserver API - Enables forwarding specific URL (HTTP GET/POST) requests to user applications, e.g. to build custom webpage contents

Diagnosis Interface

netX Diagnostic and Remote Access

Integrated Flash File System

N/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 netX 90 internal flash

Firmware Transfer

 

  • via integrated web server

  • via Host Interface (DPM, SPM)

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

  • 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 Update

Firmware check and installation supported through calling the Maintenance Firmware

  • from internal netX90 flash

  • from external SPI flash

  • from Flash File System located on external SPI Flash

Configuration

by 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 extension

N/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 Signal

supported via netX signal XC_TRIGGER0/1

Protocol Specific LED Indicators

Network specific status indicators with COM0 / COM1 LEDs:

  • RUN

  • ERR

Secure Boot

supported by EtherCAT SubDevice 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

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