EtherCAT#

This module describes overview of EtherCAT Subdevice offering from TI

EtherCAT (Ethernet for Control Automation Technology) is a real-time industrial Ethernet standard for industrial automation applications, such as input/output (I/O) devices, sensors and programmable logic controllers (PLCs). It was originally developed by Beckhoff Automation GmbH but is now overseen by the EtherCAT Technology Group that was set up to help with proliferation of the EtherCAT standard. EtherCAT technology adds certain features on Ethernet and enforces certain configurations to make it a very efficient network technology for automation while fully conforming to the Ethernet specifications.

The design of EtherCAT enables any standard PC to be used as an EtherCAT main and communicate with EtherCAT subordinates, which are specialized devices compliant with the EtherCAT specification. Together, the main and subordinate EtherCAT devices can be used in all devices in the factory network – automation controllers, operator interfaces, remote input/output units, sensors, actuators, drives and others.

Peripherals and Components#

The AM263x enables EtherCAT Subordinate functionality through PRU-ICSS:

  • Programmable Real-Time Unit and Industrial Communication Subsystem (PRU-ICSS): PRU-ICSS is firmware programmable and can take on various personalities like Industrial Communication Protocol Switch (for protocols like EtherCAT, Profinet, EtherNet/IP), Ethernet Switch, Ethernet MAC, Industrial Drives, etc.

Note

PRU-ICSS supports MII mode only.

Drivers and HAL#

EtherCAT SubDevice FWHAL

EtherCAT SubDevice FWHAL is designed for the TI SoCs with PRU-ICSS IP to enable customers add EtherCAT SubDevice protocol support to their system. It implements EtherCAT SubDevice Controller(ESC) Layer 2 functionality with two MII ports (one IN and one OUT port per PRU-ICSS) in accordance with ETG.1000.4 Data Link Layer protocol specification. EtherCAT firmware for PRU-ICSS is a black box product maintained by TI. EtherCAT SubDevice FWHAL(Firmware and Hardware Abstraction Layer) allows loading and running the EtherCAT firmware and acts as an interface with ESC firmware. FWHAL implements the key interface between EtherCAT SubDevice Controller Emulation firmware and EtherCAT stack. This provides EtherCAT ASIC like functionality integrated into TI SoCs. You can read more about it here: EtherCAT SubDevice FWHAL

Block diagram

Protocol stacks and Middleware#

It is necessary to get the EtherCAT SubDevice Stack Code (SSC) to evaluate the offering.You can download the same from ETG website EtherCAT Subdevice Stack Code

Note

Please check the correct EtherCAT stack version required before downloading. Requirements

Software SDK block diagram#

Below is the software components overview highlighting mainly the components used in the EtherCAT SubDevice software development.

Block diagram

Test environment example diagram#

EtherCAT Setup

What you will need#

Note

Please check the correct version of tool required before downloading. Requirements

Hardware#

EtherCAT subordinate#

EtherCAT main#

Software#

EtherCAT subordinate#

EtherCAT main#

Setting up and running the EtherCAT subordinate#

Note

Before proceeding to next step please make sure to setup your am263x-cc/am263-lp as mentioned in the getting started page. Getting Started

Setting up and running the EtherCAT main#

See also#

For further information on industrial protocols available on Sitara processors and MCUs and how they can be enabled on your production project, see:

Industrial Communication Protocols Supported on Sitara™ Processors and MCUs Application Note

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