Introduction To Ethercat; Protocol - Delta CMC-EC01 Operation Manual

EtherCAT Option Card CMC-EC01

3. Introduction to EtherCAT

3.1

Protocol

EtherCAT (Ethernet for Control Automation Technology) - Ethernet network control automation
technology was originally developed by Beckhoff Company in Germany based on the Ethernet
network communication protocol, and applied to the open real-time field bus (Fieldbus) in the field of
automation and industrial control technology. Currently this technology is supported and promoted by
the EtherCAT Technology Group (ETG) in the future.
EtherCAT architecture of the drive is as follows:
1. Communication layer: This protocol covers communication objects (PDO, SDO, Sync,
Emergency Object), and related communication object dictionary.
2. DS402 Drives and motion control device profile: Defines the behavior of each motion mode
and sets the object parameters required for execution.
EtherCAT
Communication Layer
Homing Mode
Profile Position Mode
Profile Torque Mode
EtherCAT Node
Drive Profile 402
Mode of Operation
Cyclic Synchronous Position Mode
Cyclic Synchronous Torque Mode
Motor
Velocity Mode
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