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class="vector-toc-list"> <li id="toc-Principles" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Principles"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.1</span> <span>Principles</span> </div> </a> <ul id="toc-Principles-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Protocol" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Protocol"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.2</span> <span>Protocol</span> </div> </a> <ul id="toc-Protocol-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Performance" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Performance"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.3</span> <span>Performance</span> </div> </a> <ul id="toc-Performance-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Topology" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Topology"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.4</span> <span>Topology</span> </div> </a> <ul id="toc-Topology-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Synchronization" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Synchronization"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.5</span> <span>Synchronization</span> </div> </a> <ul id="toc-Synchronization-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Diagnosis" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Diagnosis"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.6</span> <span>Diagnosis</span> </div> </a> <ul id="toc-Diagnosis-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Device_Profiles" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Device_Profiles"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.7</span> <span>Device Profiles</span> </div> </a> <ul id="toc-Device_Profiles-sublist" class="vector-toc-list"> <li id="toc-CAN_application_protocol_over_EtherCAT_(CoE)" class="vector-toc-list-item vector-toc-level-3"> <a class="vector-toc-link" href="#CAN_application_protocol_over_EtherCAT_(CoE)"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.7.1</span> <span>CAN application protocol over EtherCAT (CoE)</span> </div> </a> <ul id="toc-CAN_application_protocol_over_EtherCAT_(CoE)-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Servodrive-Profile_over_EtherCAT_(SoE)" class="vector-toc-list-item vector-toc-level-3"> <a class="vector-toc-link" href="#Servodrive-Profile_over_EtherCAT_(SoE)"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.7.2</span> <span>Servodrive-Profile over EtherCAT (SoE)</span> </div> </a> <ul id="toc-Servodrive-Profile_over_EtherCAT_(SoE)-sublist" class="vector-toc-list"> </ul> </li> </ul> </li> <li id="toc-Related_protocols" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Related_protocols"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.8</span> <span>Related protocols</span> </div> </a> <ul id="toc-Related_protocols-sublist" class="vector-toc-list"> <li id="toc-Ethernet_over_EtherCAT_(EoE)" class="vector-toc-list-item vector-toc-level-3"> <a class="vector-toc-link" href="#Ethernet_over_EtherCAT_(EoE)"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.8.1</span> <span>Ethernet over EtherCAT (EoE)</span> </div> </a> <ul id="toc-Ethernet_over_EtherCAT_(EoE)-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Safety_over_EtherCAT_(FSoE)" class="vector-toc-list-item vector-toc-level-3"> <a class="vector-toc-link" href="#Safety_over_EtherCAT_(FSoE)"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.8.2</span> <span>Safety over EtherCAT (FSoE)</span> </div> </a> <ul id="toc-Safety_over_EtherCAT_(FSoE)-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-File_over_EtherCAT_(FoE)" class="vector-toc-list-item vector-toc-level-3"> <a class="vector-toc-link" href="#File_over_EtherCAT_(FoE)"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.8.3</span> <span>File over EtherCAT (FoE)</span> </div> </a> <ul id="toc-File_over_EtherCAT_(FoE)-sublist" class="vector-toc-list"> </ul> </li> </ul> </li> <li id="toc-Monitoring" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Monitoring"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.9</span> <span>Monitoring</span> </div> </a> <ul id="toc-Monitoring-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Gateways" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Gateways"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.10</span> <span>Gateways</span> </div> </a> <ul id="toc-Gateways-sublist" class="vector-toc-list"> </ul> </li> </ul> </li> <li id="toc-Implementation" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Implementation"> <div class="vector-toc-text"> <span class="vector-toc-numb">2</span> <span>Implementation</span> </div> </a> <button aria-controls="toc-Implementation-sublist" class="cdx-button cdx-button--weight-quiet cdx-button--icon-only vector-toc-toggle"> <span class="vector-icon mw-ui-icon-wikimedia-expand"></span> <span>Toggle Implementation subsection</span> </button> <ul id="toc-Implementation-sublist" class="vector-toc-list"> <li id="toc-Master" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Master"> <div class="vector-toc-text"> <span class="vector-toc-numb">2.1</span> <span>Master</span> </div> </a> <ul id="toc-Master-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Slave" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Slave"> <div class="vector-toc-text"> <span class="vector-toc-numb">2.2</span> <span>Slave</span> </div> </a> <ul id="toc-Slave-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Control_and_regulation" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Control_and_regulation"> <div class="vector-toc-text"> <span class="vector-toc-numb">2.3</span> <span>Control and regulation</span> </div> </a> <ul id="toc-Control_and_regulation-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Measurement_systems" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Measurement_systems"> <div class="vector-toc-text"> <span class="vector-toc-numb">2.4</span> <span>Measurement systems</span> </div> </a> <ul id="toc-Measurement_systems-sublist" class="vector-toc-list"> </ul> </li> </ul> </li> <li id="toc-Organization" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Organization"> <div class="vector-toc-text"> <span class="vector-toc-numb">3</span> <span>Organization</span> </div> </a> <ul id="toc-Organization-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Standardization" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Standardization"> <div class="vector-toc-text"> <span class="vector-toc-numb">4</span> <span>Standardization</span> </div> </a> <ul id="toc-Standardization-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Further_reading" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Further_reading"> <div class="vector-toc-text"> <span class="vector-toc-numb">5</span> <span>Further reading</span> </div> </a> <ul id="toc-Further_reading-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Notes_and_references" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Notes_and_references"> <div class="vector-toc-text"> <span class="vector-toc-numb">6</span> <span>Notes and references</span> </div> </a> <ul id="toc-Notes_and_references-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-External_links" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#External_links"> <div class="vector-toc-text"> <span class="vector-toc-numb">7</span> <span>External links</span> </div> </a> <ul id="toc-External_links-sublist" class="vector-toc-list"> </ul> </li> </ul> </div> </div> </nav> </div> </div> <div class="mw-content-container"> <main id="content" class="mw-body"> <header class="mw-body-header vector-page-titlebar"> <nav aria-label="Contents" class="vector-toc-landmark"> <div id="vector-page-titlebar-toc" class="vector-dropdown vector-page-titlebar-toc vector-button-flush-left" title="Table of Contents" > <input 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title="EtherCAT – German" lang="de" hreflang="de" data-title="EtherCAT" data-language-autonym="Deutsch" data-language-local-name="German" class="interlanguage-link-target"><span>Deutsch</span></a></li><li class="interlanguage-link interwiki-es mw-list-item"><a href="https://es.wikipedia.org/wiki/EtherCAT" title="EtherCAT – Spanish" lang="es" hreflang="es" data-title="EtherCAT" data-language-autonym="Español" data-language-local-name="Spanish" class="interlanguage-link-target"><span>Español</span></a></li><li class="interlanguage-link interwiki-fa mw-list-item"><a href="https://fa.wikipedia.org/wiki/%D8%A7%D8%AA%D8%B1%DA%A9%D8%AA" title="اترکت – Persian" lang="fa" hreflang="fa" data-title="اترکت" data-language-autonym="فارسی" data-language-local-name="Persian" class="interlanguage-link-target"><span>فارسی</span></a></li><li class="interlanguage-link interwiki-fr mw-list-item"><a href="https://fr.wikipedia.org/wiki/EtherCAT" title="EtherCAT – French" lang="fr" hreflang="fr" data-title="EtherCAT" data-language-autonym="Français" data-language-local-name="French" class="interlanguage-link-target"><span>Français</span></a></li><li class="interlanguage-link interwiki-ko mw-list-item"><a href="https://ko.wikipedia.org/wiki/EtherCAT" title="EtherCAT – Korean" lang="ko" hreflang="ko" data-title="EtherCAT" data-language-autonym="한국어" data-language-local-name="Korean" class="interlanguage-link-target"><span>한국어</span></a></li><li class="interlanguage-link interwiki-ja mw-list-item"><a href="https://ja.wikipedia.org/wiki/EtherCAT" title="EtherCAT – Japanese" lang="ja" hreflang="ja" data-title="EtherCAT" data-language-autonym="日本語" data-language-local-name="Japanese" class="interlanguage-link-target"><span>日本語</span></a></li><li class="interlanguage-link interwiki-pt mw-list-item"><a href="https://pt.wikipedia.org/wiki/EtherCAT" title="EtherCAT – Portuguese" lang="pt" hreflang="pt" data-title="EtherCAT" data-language-autonym="Português" data-language-local-name="Portuguese" class="interlanguage-link-target"><span>Português</span></a></li><li class="interlanguage-link interwiki-ru mw-list-item"><a href="https://ru.wikipedia.org/wiki/EtherCAT" title="EtherCAT – Russian" lang="ru" hreflang="ru" data-title="EtherCAT" data-language-autonym="Русский" data-language-local-name="Russian" class="interlanguage-link-target"><span>Русский</span></a></li><li class="interlanguage-link interwiki-sl mw-list-item"><a href="https://sl.wikipedia.org/wiki/EtherCAT" title="EtherCAT – Slovenian" lang="sl" hreflang="sl" data-title="EtherCAT" data-language-autonym="Slovenščina" data-language-local-name="Slovenian" class="interlanguage-link-target"><span>Slovenščina</span></a></li><li class="interlanguage-link interwiki-zh mw-list-item"><a href="https://zh.wikipedia.org/wiki/EtherCAT" title="EtherCAT – Chinese" lang="zh" hreflang="zh" data-title="EtherCAT" data-language-autonym="中文" data-language-local-name="Chinese" 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Unsourced material may be challenged and removed.<br /><small><span class="plainlinks"><i>Find sources:</i> <a rel="nofollow" class="external text" href="https://www.google.com/search?as_eq=wikipedia&q=%22EtherCAT%22">"EtherCAT"</a> – <a rel="nofollow" class="external text" href="https://www.google.com/search?tbm=nws&q=%22EtherCAT%22+-wikipedia&tbs=ar:1">news</a> <b>·</b> <a rel="nofollow" class="external text" href="https://www.google.com/search?&q=%22EtherCAT%22&tbs=bkt:s&tbm=bks">newspapers</a> <b>·</b> <a rel="nofollow" class="external text" href="https://www.google.com/search?tbs=bks:1&q=%22EtherCAT%22+-wikipedia">books</a> <b>·</b> <a rel="nofollow" class="external text" href="https://scholar.google.com/scholar?q=%22EtherCAT%22">scholar</a> <b>·</b> <a rel="nofollow" class="external text" href="https://www.jstor.org/action/doBasicSearch?Query=%22EtherCAT%22&acc=on&wc=on">JSTOR</a></span></small></span> <span class="date-container"><i>(<span class="date">September 2015</span>)</i></span><span class="hide-when-compact"><i> (<small><a href="/wiki/Help:Maintenance_template_removal" title="Help:Maintenance template removal">Learn how and when to remove this message</a></small>)</i></span></div></td></tr></tbody></table> <p><b>EtherCAT</b> (<b>Ethernet for Control Automation Technology</b>) is an <a href="/wiki/Ethernet" title="Ethernet">Ethernet</a>-based <a href="/wiki/Fieldbus" title="Fieldbus">fieldbus</a> system developed by Beckhoff Automation. The protocol is standardized in <a href="/wiki/IEC_61158" class="mw-redirect" title="IEC 61158">IEC 61158</a> and is suitable for both hard and soft <a href="/wiki/Real-time_computing" title="Real-time computing">real-time computing</a> requirements in automation technology. </p><p>The goal during development of EtherCAT was to apply Ethernet for automation applications requiring short data update times (also called cycle times; ≤ 100 μs) with low communication <a href="/wiki/Jitter" title="Jitter">jitter</a> (for precise <a href="/wiki/Synchronization" title="Synchronization">synchronization</a> purposes; ≤ 1 μs) and reduced hardware costs. Typical application fields for EtherCAT are machine controls (e.g. semiconductor tools, metal forming, packaging, injection molding, assembly systems, printing machines, robotics). </p><p>Alternative technologies for networking in the industrial environment include <a href="/wiki/EtherNet/IP" title="EtherNet/IP">EtherNet/IP</a>, <a href="/wiki/Profinet" title="Profinet">Profinet</a> and <a href="/wiki/Profibus" title="Profibus">Profibus</a>.<sup id="cite_ref-1" class="reference"><a href="#cite_note-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup> </p> <meta property="mw:PageProp/toc" /> <div class="mw-heading mw-heading2"><h2 id="Features">Features</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=1" title="Edit section: Features"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <div class="mw-heading mw-heading3"><h3 id="Principles">Principles</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=2" title="Edit section: Principles"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <figure class="mw-default-size" typeof="mw:File/Thumb"><span><video id="mwe_player_0" poster="//upload.wikimedia.org/wikipedia/commons/thumb/8/8f/EthercatOperatingPrinciple.webm/220px--EthercatOperatingPrinciple.webm.jpg" controls="" preload="none" data-mw-tmh="" class="mw-file-element" width="220" height="156" data-durationhint="74" data-mwtitle="EthercatOperatingPrinciple.webm" data-mwprovider="wikimediacommons" resource="/wiki/File:EthercatOperatingPrinciple.webm"><source src="//upload.wikimedia.org/wikipedia/commons/transcoded/8/8f/EthercatOperatingPrinciple.webm/EthercatOperatingPrinciple.webm.480p.vp9.webm" type="video/webm; codecs="vp9, opus"" data-transcodekey="480p.vp9.webm" data-width="676" data-height="480" /><source src="//upload.wikimedia.org/wikipedia/commons/transcoded/8/8f/EthercatOperatingPrinciple.webm/EthercatOperatingPrinciple.webm.720p.vp9.webm" type="video/webm; codecs="vp9, opus"" data-transcodekey="720p.vp9.webm" data-width="1014" data-height="720" /><source src="//upload.wikimedia.org/wikipedia/commons/transcoded/8/8f/EthercatOperatingPrinciple.webm/EthercatOperatingPrinciple.webm.1080p.vp9.webm" type="video/webm; codecs="vp9, opus"" data-transcodekey="1080p.vp9.webm" data-width="1520" data-height="1080" /><source src="//upload.wikimedia.org/wikipedia/commons/8/8f/EthercatOperatingPrinciple.webm" type="video/webm; codecs="vp9"" data-width="1520" data-height="1080" /><source src="//upload.wikimedia.org/wikipedia/commons/transcoded/8/8f/EthercatOperatingPrinciple.webm/EthercatOperatingPrinciple.webm.144p.mjpeg.mov" type="video/quicktime" data-transcodekey="144p.mjpeg.mov" data-width="202" data-height="144" /><source src="//upload.wikimedia.org/wikipedia/commons/transcoded/8/8f/EthercatOperatingPrinciple.webm/EthercatOperatingPrinciple.webm.240p.vp9.webm" type="video/webm; codecs="vp9, opus"" data-transcodekey="240p.vp9.webm" data-width="338" data-height="240" /><source src="//upload.wikimedia.org/wikipedia/commons/transcoded/8/8f/EthercatOperatingPrinciple.webm/EthercatOperatingPrinciple.webm.360p.vp9.webm" type="video/webm; codecs="vp9, opus"" data-transcodekey="360p.vp9.webm" data-width="506" data-height="360" /><source src="//upload.wikimedia.org/wikipedia/commons/transcoded/8/8f/EthercatOperatingPrinciple.webm/EthercatOperatingPrinciple.webm.360p.webm" type="video/webm; codecs="vp8, vorbis"" data-transcodekey="360p.webm" data-width="506" data-height="360" /></video></span><figcaption>Frame processing</figcaption></figure> <p>With EtherCAT, the standard Ethernet packet or <a href="/wiki/Ethernet_frame" title="Ethernet frame">frame</a> (according to <a href="/wiki/IEEE_802.3" title="IEEE 802.3">IEEE 802.3</a>) is no longer received, interpreted, and copied as process data at every node. The EtherCAT slave devices read the data addressed to them while the telegram passes through the device, processing data "on the fly". In other words, real-time data and messages are prioritized over more general, less time-sensitive or heavy load data. </p><p>Similarly, input data is inserted while the telegram passes through. A frame is not completely received before being processed; instead processing starts as soon as possible. Sending is also conducted with a minimum delay of small bit times. Typically the entire <a href="/wiki/Computer_network" title="Computer network">network</a> can be addressed with just one frame.<sup id="cite_ref-2" class="reference"><a href="#cite_note-2"><span class="cite-bracket">[</span>2<span class="cite-bracket">]</span></a></sup> </p><p><b>ISO/OSI Reference Model</b> </p> <table class="wikitable" style="margin: 1em auto 1em auto;"> <tbody><tr> <th colspan="2"><a href="/wiki/OSI_Model" class="mw-redirect" title="OSI Model">ISO/OSI Layer</a> </th> <th colspan="2">EtherCAT </th></tr> <tr> <th rowspan="4">Host<br />layers </th> <td style="background:#d8ec9b;">7. <a href="/wiki/Application_layer" title="Application layer">Application</a> </td> <td style="background:#d8ec9c; vertical-align: top;"><a href="/wiki/HTTP" title="HTTP">HTTP</a>*, <a href="/wiki/FTP" class="mw-redirect" title="FTP">FTP</a>* </td> <td style="background:#d8ec9c; vertical-align: top;"> <ul><li>Cyclic Data Exchange</li> <li>Mailbox Acyclic Data Access</li></ul> </td></tr> <tr> <td style="background:#d8ec9b;">6. <a href="/wiki/Presentation_layer" title="Presentation layer">Presentation</a> </td> <td style="background:#d8ec9b; vertical-align: top;">— </td> <td style="background:#d8ec9b; vertical-align: top;">— </td></tr> <tr> <td style="background:#d8ec9b;">5. <a href="/wiki/Session_layer" title="Session layer">Session</a> </td> <td style="background:#d8ec9b; vertical-align: top;">— </td> <td style="background:#d8ec9b; vertical-align: top;">— </td></tr> <tr> <td style="background:#e7ed9c;">4. <a href="/wiki/Transport_layer" title="Transport layer">Transport</a> </td> <td style="background:#e7ed9c; vertical-align: top;"><a href="/wiki/Transmission_Control_Protocol" title="Transmission Control Protocol">TCP</a>* </td> <td style="background:#e7ed9c; vertical-align: top;">— </td></tr> <tr> <th rowspan="4">Media<br />layers </th> <td style="background:#eddc9c;">3. <a href="/wiki/Network_layer" title="Network layer">Network</a> </td> <td style="background:#eddc9c; vertical-align: top;"><a href="/wiki/Internet_Protocol" title="Internet Protocol">IP</a>* </td> <td style="background:#eddc9c; vertical-align: top;">— </td></tr> <tr> <td style="background:#e9c189;" rowspan="2">2. <a href="/wiki/Data_link_layer" title="Data link layer">Data link</a> </td> <td style="background:#e9c189; vertical-align: top;" colspan="2"> <ul><li>Mailbox/Buffer Handling</li> <li>Process Data Mapping</li> <li>Extreme Fast Auto-Forwarder</li></ul> </td></tr> <tr> <td style="background:#e9c189; vertical-align: top;" colspan="2">Ethernet MAC </td></tr> <tr> <td style="background:#e9988a;">1. <a href="/wiki/Physical_layer" title="Physical layer">Physical</a> </td> <td style="background:#e9988a; vertical-align: top;" colspan="2"><a href="/wiki/100BASE-TX" class="mw-redirect" title="100BASE-TX">100BASE-TX</a>, <a href="/wiki/100BASE-FX" class="mw-redirect" title="100BASE-FX">100BASE-FX</a> </td></tr> <tr> <td colspan="4">*optional, the TCP/IP Stack shown is not needed for typical fieldbus devices.<br />EtherCAT master can access all data including name and data types of an EtherCAT slave without complex tools.<br />EtherCAT uses Standard Ethernet (IEEE 802.3 - Ethernet MAC and PHY) without modifications. </td></tr></tbody></table> <div class="mw-heading mw-heading3"><h3 id="Protocol">Protocol</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=3" title="Edit section: Protocol"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>The EtherCAT <a href="/wiki/Protocol_(computing)" class="mw-redirect" title="Protocol (computing)">protocol</a> is optimized for process data and is transported directly within the standard IEEE 802.3 Ethernet frame using <a href="/wiki/Ethertype" class="mw-redirect" title="Ethertype">Ethertype</a> 0x88a4. It may consist of several sub-telegrams, each serving a particular memory area of the logical <a href="/wiki/Process_image#Process_images" class="mw-redirect" title="Process image">process images</a> that can be up to 4 <a href="/wiki/Gigabyte" title="Gigabyte">gigabytes</a> in size. The data sequence is independent of the physical order of the nodes in the network; addressing can be in any order. <a href="/wiki/Broadcast" class="mw-redirect" title="Broadcast">Broadcast</a>, <a href="/wiki/Multicast" title="Multicast">multicast</a> and communication between slaves is possible, but must be initiated by the master device. If IP <a href="/wiki/Routing" title="Routing">routing</a> is required, the EtherCAT protocol can be inserted into <a href="/wiki/User_Datagram_Protocol" title="User Datagram Protocol">UDP</a>/<a href="/wiki/Internet_Protocol" title="Internet Protocol">IP</a> datagrams. This also enables any control with Ethernet protocol stack to address EtherCAT systems. </p> <div class="mw-heading mw-heading3"><h3 id="Performance">Performance</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=4" title="Edit section: Performance"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Short cycle times can be achieved since the host <a href="/wiki/Microprocessor" title="Microprocessor">microprocessors</a> in the slave devices are not involved in the processing of the Ethernet packets to transfer the process images. All process <a href="/wiki/Data_communication" title="Data communication">data communication</a> is handled in the slave controller hardware. Combined with the functional principle this makes EtherCAT a high performance distributed I/O system: Process data exchange with 1000 distributed <a href="/wiki/Digital_data" title="Digital data">digital</a> I/O takes about 30 μs, which is typical for a transfer of 125 <a href="/wiki/Byte" title="Byte">byte</a> over 100 Mbit/s Ethernet. Data for and from 100 <a href="/wiki/Servomechanism" title="Servomechanism">servo</a> axis can be updated with up to 10 kHz. Typical network update rates are 1–30 kHz, but EtherCAT can be used with slower cycle times, too, if the DMA load is too high<sup class="noprint Inline-Template Template-Fact" style="white-space:nowrap;">[<i><a href="/wiki/Wikipedia:Citation_needed" title="Wikipedia:Citation needed"><span title="This claim needs references to reliable sources. (January 2025)">citation needed</span></a></i>]</sup>. </p><p>The bandwidth utilization is maximized, as each node and each data do not require a separate frame. Thus, extremely short cycle times of ≤ 100 μs are achievable. By using the full-duplex features of <a href="/wiki/100BASE-TX" class="mw-redirect" title="100BASE-TX">100BASE-TX</a>, effective data rates of more than 100 Mbit/s (> 90% user data rate of 2x100 Mbit/s) can be achieved. </p><p>The EtherCAT technology principle is scalable and not bound to 100 Mbit/s. EtherCAT G and 10G are new extensions of standard EtherCAT using 1 gbps and 10 gbps respectively for significantly increased bandwidth to meet the needs of <a href="/wiki/Industrial_internet_of_things" title="Industrial internet of things">IIoT</a> and <a href="/wiki/Fourth_Industrial_Revolution" title="Fourth Industrial Revolution">Industry 4.0</a> </p> <div class="mw-heading mw-heading3"><h3 id="Topology">Topology</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=5" title="Edit section: Topology"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Using full-<a href="/wiki/Duplex_(telecommunications)" title="Duplex (telecommunications)">duplex</a> Ethernet physical layers, the EtherCAT slave controllers close an open <a href="/wiki/Computer_port_(software)" class="mw-redirect" title="Computer port (software)">port</a> automatically and return the Ethernet frame if no <a href="/wiki/Downstream_(computer_science)" class="mw-redirect" title="Downstream (computer science)">downstream</a> device is detected. Slave devices may have one, two, or more ports. Due to these features EtherCAT enables a multitude of <a href="/wiki/Network_topologies" class="mw-redirect" title="Network topologies">network topologies</a>, including line, tree, ring, star, or any combination thereof. The protocol also enables a multitude of communication features such as cable redundancy, Hot Connect of segments, change of devices during operation, or even master redundancy with Hot Standby. </p><p>Thus the combination of the topology variations and different network architectures, e.g. sub-ordinated or neighboring control systems with consistent synchronization, enables numerous possibilities. Additional <a href="/wiki/Switches" class="mw-redirect" title="Switches">switches</a> are not required. The physics of Ethernet allow a cable length of up to 100 m (300 ft) between two nodes, so the E-bus (<a href="/wiki/LVDS" class="mw-redirect" title="LVDS">LVDS</a>) is only intended for use as the physical layer for modular devices. For each cable path, the signal variant can be chosen individually. For higher distances, or the complete <a href="/wiki/Galvanic_isolation" title="Galvanic isolation">galvanic isolation</a> between two slaves, <a href="/wiki/Fiber_optic" class="mw-redirect" title="Fiber optic">fiber optic</a> cables are used. With single-mode fiber, distances up to 20 km between two nodes can be bridged. Since a total of 65,535 nodes per network segment can be connected, the network extension is nearly unlimited. </p> <div class="mw-heading mw-heading3"><h3 id="Synchronization">Synchronization</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=6" title="Edit section: Synchronization"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>For synchronization a distributed clock mechanism is applied, which leads to very low jitter, significantly less than 1 μs, even if the communication cycle jitters, which is equivalent to the IEEE 1588 <a href="/wiki/Precision_Time_Protocol" title="Precision Time Protocol">Precision Time Protocol</a> standard (PTP). Therefore, EtherCAT does not require special hardware in the master device and can be implemented in software on any standard Ethernet MAC, even without dedicated communication coprocessor. </p><p>The typical process of establishing a distributed clock is initiated by the master by sending a broadcast to all slaves to a certain address. Upon reception of this message, all slaves will <a href="/wiki/Latch_(electronic)" class="mw-redirect" title="Latch (electronic)">latch</a> the value of their internal clock twice, once when the message is received and once when it returns (remember EtherCAT has a <a href="/wiki/Ring_topology" class="mw-redirect" title="Ring topology">ring topology</a>). The master can then read all latched values and calculate the delay for each slave. This process can be repeated as many times as required to reduce <a href="/wiki/Jitter" title="Jitter">jitter</a> and average out values. Total delays are calculated for each slave depending on their position in the slave-ring and will be uploaded to an offset register. Finally the master issues a broadcast readwrite on the system clock, which will make the first slave the reference clock and forcing all other slaves to set their internal clock appropriately with the now known offset. </p><p>To keep the clocks synchronised after initialization, the master or slave must regularly send out the broadcast again to counter any effects of speed difference between the internal clocks of each slave. Each slave should adjust the speed of their internal clock or implement an internal correction mechanism whenever they have to adjust. </p><p>The system clock is specified as a 64 bit counter with a base unit of 1ns starting at January 1, 2000, 0:00. </p> <div class="mw-heading mw-heading3"><h3 id="Diagnosis">Diagnosis</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=7" title="Edit section: Diagnosis"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>The fast, precise detection of disturbances is one of many diagnostic features of EtherCAT. </p><p>Bit errors during transmission are detected reliably by the analysis of the <a href="/wiki/Cyclic_redundancy_check" title="Cyclic redundancy check">CRC</a> check sum: the 32 bit CRC polynomial has a minimum <a href="/wiki/Hamming_distance" title="Hamming distance">Hamming distance</a> of 4. Besides the <a href="/wiki/Error_detection" class="mw-redirect" title="Error detection">error detection</a> and localization protocol, the transmission physics and topology of the EtherCAT system allow individual quality monitoring of every single transmission path. The automated analysis of the according error counters enables the exact localization of critical network segments. </p><p>More info to follow in the chapter titled "Monitoring". </p> <div class="mw-heading mw-heading3"><h3 id="Device_Profiles">Device Profiles</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=8" title="Edit section: Device Profiles"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>The device profiles describe the application parameters and functional behavior of the devices, including device-specific state machines. The following software interfaces are provided for existing device profiles. Thus, the migration to EtherCAT by adjusting the firmware and the hardware is simplified significantly. </p> <div class="mw-heading mw-heading4"><h4 id="CAN_application_protocol_over_EtherCAT_(CoE)"><span id="CAN_application_protocol_over_EtherCAT_.28CoE.29"></span>CAN application protocol over EtherCAT (CoE)</h4><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=9" title="Edit section: CAN application protocol over EtherCAT (CoE)"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p><a href="/wiki/CANopen" title="CANopen">CANopen</a> devices and application profiles are available for an extensive selection of device categories and applications: I/O modules, drives (e.g., drive profile CiA 402 standardized as IEC 61800-7-201/301), encoders (CiA 406), proportional valves, hydraulic controllers (CiA 408), or application profiles. In this case, EtherCAT replaces CAN. </p> <div class="mw-heading mw-heading4"><h4 id="Servodrive-Profile_over_EtherCAT_(SoE)"><span id="Servodrive-Profile_over_EtherCAT_.28SoE.29"></span>Servodrive-Profile over EtherCAT (SoE)</h4><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=10" title="Edit section: Servodrive-Profile over EtherCAT (SoE)"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p><a href="/wiki/SERCOS" class="mw-redirect" title="SERCOS">SERCOS</a> interface is a real-time communication interface, ideal for motion control applications. The SERCOS profile for servo drives and communication technology are standardized in IEC 61800-7. This standard also contains the mapping of the SERCOS servo drive profile to EtherCAT (IEC 61800-7-304). </p> <div class="mw-heading mw-heading3"><h3 id="Related_protocols">Related protocols</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=11" title="Edit section: Related protocols"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <div class="mw-heading mw-heading4"><h4 id="Ethernet_over_EtherCAT_(EoE)"><span id="Ethernet_over_EtherCAT_.28EoE.29"></span>Ethernet over EtherCAT (EoE)</h4><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=12" title="Edit section: Ethernet over EtherCAT (EoE)"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Any Ethernet device can be connected within the EtherCAT segment via switch ports. The Ethernet frames are <a href="/wiki/Tunneling_protocol" title="Tunneling protocol">tunneled</a> via the EtherCAT protocol, as is normal for internet protocols (e.g., <a href="/wiki/TCP/IP" class="mw-redirect" title="TCP/IP">TCP/IP</a>, <a href="/wiki/VPN" class="mw-redirect" title="VPN">VPN</a>, <a href="/wiki/PPPoE" class="mw-redirect" title="PPPoE">PPPoE</a> (DSL), etc.). The EtherCAT network is fully transparent for the Ethernet devices, and the real-time features of EtherCAT are not disturbed. </p> <div class="mw-heading mw-heading4"><h4 id="Safety_over_EtherCAT_(FSoE)"><span id="Safety_over_EtherCAT_.28FSoE.29"></span>Safety over EtherCAT (FSoE)</h4><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=13" title="Edit section: Safety over EtherCAT (FSoE)"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>In parallel to the development of EtherCAT, a fieldbus-independent safety protocol has been developed.<sup id="cite_ref-3" class="reference"><a href="#cite_note-3"><span class="cite-bracket">[</span>3<span class="cite-bracket">]</span></a></sup> For EtherCAT, it is available as "Safety over EtherCAT" (FSoE = Fail Safe over EtherCAT). With FSoE, <a href="/wiki/Functional_safety" title="Functional safety">functional safety</a> with EtherCAT can be realized. The protocol as well as the implementation are certified by <a href="/wiki/T%C3%9CV" title="TÜV">TÜV</a> and meet the requirements of the Safety Integrity Level 3 according to <a href="/wiki/IEC_61508" title="IEC 61508">IEC 61508</a>. Since 2010, Safety over EtherCAT is internationally standardized to IEC 61784-3-12. EtherCAT provides a single-channel communication system for transferring safe and non-safe information. The transport medium is regarded as a black channel,<sup id="cite_ref-4" class="reference"><a href="#cite_note-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup> and thus is not included in safety considerations. </p> <div class="mw-heading mw-heading4"><h4 id="File_over_EtherCAT_(FoE)"><span id="File_over_EtherCAT_.28FoE.29"></span>File over EtherCAT (FoE)</h4><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=14" title="Edit section: File over EtherCAT (FoE)"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>This simple protocol is similar to TFTP (Trivial File Transfer Protocol); it enables file access in a device and a uniform firmware upload to devices across an EtherCAT network. The protocol has been deliberately specified in a lean manner, so that it can be supported by boot loader programs. A TCP/IP stack isn’t required. </p> <div class="mw-heading mw-heading3"><h3 id="Monitoring">Monitoring</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=15" title="Edit section: Monitoring"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Since EtherCAT uses standard Ethernet frames according to IEEE 802.3, any standard Ethernet tool can be used to monitor the EtherCAT communication. Additionally, there is free-of-charge parser software for <a href="/wiki/Wireshark" title="Wireshark">Wireshark</a> (formerly Ethereal, an open source monitoring tool) and the <a href="/wiki/Microsoft" title="Microsoft">Microsoft</a> network monitor, with which recorded EtherCAT data traffic can be comfortably prepared and displayed. </p> <div class="mw-heading mw-heading3"><h3 id="Gateways">Gateways</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=16" title="Edit section: Gateways"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>By using gateways, existing networks such as <a href="/wiki/CANopen" title="CANopen">CANopen</a>, <a href="/wiki/DeviceNet" title="DeviceNet">DeviceNet</a>, or <a href="/wiki/Profibus" title="Profibus">Profibus</a>, can be integrated into the EtherCAT environment seamlessly. Furthermore, gateways provide a trip-free migration path from a traditional fieldbus to EtherCAT, reducing further investment costs. </p><p>Thanks to the performance of EtherCAT, communication with external <a href="/wiki/Fieldbus" title="Fieldbus">fieldbus</a> masters is as fast as with traditional cards connected via <a href="/wiki/Peripheral_Component_Interconnect" title="Peripheral Component Interconnect">PCI</a> or other backbone buses. Since decentralized fieldbus interfaces lead to shorter extensions, they can be operated with even higher baud rates than would have been possible with the traditional architecture. </p> <div class="mw-heading mw-heading2"><h2 id="Implementation">Implementation</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=17" title="Edit section: Implementation"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>EtherCAT Technology Group (ETG) encourages and expects companies that develop EtherCAT products to join ETG, so that they can get an EtherCAT Vendor-ID, get access to the full documentation, to the developers forum and to the slave stack code, that Beckhoff provides free of charge to ETG members. </p> <div class="mw-heading mw-heading3"><h3 id="Master">Master</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=18" title="Edit section: Master"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Masters can be implemented as a software solution on any Ethernet MAC. Different manufacturers provide code for different operating systems, including several open-source projects. Due to the relocated mapping on the slave hardware, demands are reduced for CPU performance of the master. The master already contains the data as a readily sorted process image. </p><p>In order to operate a network, the EtherCAT master requires the cyclic process data structure as well as boot-up commands for each slave device. These commands can be exported to an EtherCAT Network Information (ENI) file with the help of an EtherCAT configuration tool, which uses the EtherCAT Slave Information (ESI) files from the connected devices.<sup id="cite_ref-5" class="reference"><a href="#cite_note-5"><span class="cite-bracket">[</span>5<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading3"><h3 id="Slave">Slave</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=19" title="Edit section: Slave"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <figure class="mw-default-size" typeof="mw:File/Thumb"><a href="/wiki/File:Beckhoff_ET1100-0003.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/1/18/Beckhoff_ET1100-0003.jpg/220px-Beckhoff_ET1100-0003.jpg" decoding="async" width="220" height="165" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/1/18/Beckhoff_ET1100-0003.jpg/330px-Beckhoff_ET1100-0003.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/1/18/Beckhoff_ET1100-0003.jpg/440px-Beckhoff_ET1100-0003.jpg 2x" data-file-width="800" data-file-height="600" /></a><figcaption>EtherCAT microcontroller</figcaption></figure> <p>Contrary to the operation of standard Ethernet, the slaves process the EtherCAT frames on the fly. This requires the use of hardware-integrated EtherCAT Slave Controllers (ESC) in the slaves. ESCs are also available as <a href="/wiki/ASIC" class="mw-redirect" title="ASIC">ASICs</a> or based on <a href="/wiki/FPGA" class="mw-redirect" title="FPGA">FPGAs</a>. Since the beginning of 2012, standard <a href="/wiki/Microprocessors" class="mw-redirect" title="Microprocessors">microprocessors</a> with EtherCAT slave interfaces are also available. </p><p>For simple devices, no additional microcontroller is required. In more complex devices, however, the communication performance of EtherCAT is nearly independent of the performance of the used controller. Thus the requirements for the microcontroller are determined by the local application, e.g. the drive control. </p><p>There is a choice of development boards, both from the EtherCAT Slave Controller suppliers and from third party vendors. There are also open-source projects for EtherCAT slave device development boards, such as SOES and ArduCAT. </p> <div class="mw-heading mw-heading3"><h3 id="Control_and_regulation">Control and regulation</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=20" title="Edit section: Control and regulation"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>For the control and regulation of physical processes, high data integrity, <a href="/wiki/Data_security" title="Data security">data security</a>, and synchronicity is required. EtherCAT has been designed especially for these kinds of applications and meets all demands for fast controls. </p> <div class="mw-heading mw-heading3"><h3 id="Measurement_systems">Measurement systems</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=21" title="Edit section: Measurement systems"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Modern <a href="/wiki/Measurement" title="Measurement">measurement</a> systems are characterized by multi-channeling, synchronicity, and accuracy. Due to the advanced protocol features of EtherCAT, efficient synchronous data throughput is assured. The network features based on Ethernet enable a measurement network with distributed measurement modules. </p> <div class="mw-heading mw-heading2"><h2 id="Organization">Organization</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=22" title="Edit section: Organization"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>The EtherCAT Technology Group (ETG) was established in 2003, and is the industrial Ethernet user organization with the most members in the world today.<sup id="cite_ref-ETG_Members_List_6-0" class="reference"><a href="#cite_note-ETG_Members_List-6"><span class="cite-bracket">[</span>6<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-7" class="reference"><a href="#cite_note-7"><span class="cite-bracket">[</span>7<span class="cite-bracket">]</span></a></sup> A wide range of industrial controls vendors, OEMs, machine builders, and technology organizations from around the world constitute the ETG member roster. The ETG offers its members implementation support and training, organizes interoperability tests (often called "Plug Fests"<sup id="cite_ref-8" class="reference"><a href="#cite_note-8"><span class="cite-bracket">[</span>8<span class="cite-bracket">]</span></a></sup>), and promotes the development and distribution of the technology, supported by its members and the teams working in offices in Germany, China, Japan, Korea, and North America. ETG end users span numerous industries, with machine builders and suppliers of powerful control technology joining forces to support and promote EtherCAT technology. The variety of industries guarantees optimal preparation of EtherCAT for the widest range of applications.<sup id="cite_ref-9" class="reference"><a href="#cite_note-9"><span class="cite-bracket">[</span>9<span class="cite-bracket">]</span></a></sup> System partners give qualified feedback for the simple integration of hardware and software modules in all required equipment classes. The EtherCAT Conformance Test Tool (CTT),<sup id="cite_ref-10" class="reference"><a href="#cite_note-10"><span class="cite-bracket">[</span>10<span class="cite-bracket">]</span></a></sup> developed with the assistance of ETG member companies, ensures the <a href="/wiki/Interoperability" title="Interoperability">interoperability</a> and protocol <a href="/wiki/Conformity" title="Conformity">conformity</a> of EtherCAT devices. </p> <div class="mw-heading mw-heading2"><h2 id="Standardization">Standardization</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=23" title="Edit section: Standardization"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>The EtherCAT Technology Group (ETG) is an official liaison partner of the IEC (<a href="/wiki/International_Electrotechnical_Commission" title="International Electrotechnical Commission">International Electrotechnical Commission</a>) working groups for digital communication. The EtherCAT specification was published as IEC/PAS 62407<sup id="cite_ref-11" class="reference"><a href="#cite_note-11"><span class="cite-bracket">[</span>11<span class="cite-bracket">]</span></a></sup> in 2005, which was removed end of 2007 since EtherCAT had been integrated into the international fieldbus standards IEC 61158<sup id="cite_ref-12" class="reference"><a href="#cite_note-12"><span class="cite-bracket">[</span>12<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-13" class="reference"><a href="#cite_note-13"><span class="cite-bracket">[</span>13<span class="cite-bracket">]</span></a></sup> and IEC 61784-2<sup id="cite_ref-14" class="reference"><a href="#cite_note-14"><span class="cite-bracket">[</span>14<span class="cite-bracket">]</span></a></sup> as well as into the drive profile standard IEC 61800-7.<sup id="cite_ref-15" class="reference"><a href="#cite_note-15"><span class="cite-bracket">[</span>15<span class="cite-bracket">]</span></a></sup> These IEC standards have been approved unanimously in September and October 2007 and were published as IS (International Standards) later that year. In IEC 61800-7, EtherCAT is a standardized communication technology for the <a href="/wiki/SERCOS" class="mw-redirect" title="SERCOS">SERCOS</a> and <a href="/wiki/CANopen" title="CANopen">CANopen</a> drive profiles (also known as CiA 402). EtherCAT is also part of <a href="/wiki/International_Organization_for_Standardization" title="International Organization for Standardization">ISO</a> 15745-4,<sup id="cite_ref-16" class="reference"><a href="#cite_note-16"><span class="cite-bracket">[</span>16<span class="cite-bracket">]</span></a></sup> the standard for <a href="/wiki/XML" title="XML">XML</a> device description. Furthermore, <a href="/wiki/SEMI" title="SEMI">SEMI</a> has added EtherCAT to its standards portfolio (E54.20)<sup id="cite_ref-17" class="reference"><a href="#cite_note-17"><span class="cite-bracket">[</span>17<span class="cite-bracket">]</span></a></sup> and approved the technology for usage in semiconductor and flat panel display manufacturing equipment. In April 2010, Edition 2 of IEC 61784-3<sup id="cite_ref-18" class="reference"><a href="#cite_note-18"><span class="cite-bracket">[</span>18<span class="cite-bracket">]</span></a></sup> was accepted, which contains the Safety over EtherCAT Protocol. In September 2008, the EtherCAT Installation Profile was submitted to IEC 61784-5.<sup id="cite_ref-19" class="reference"><a href="#cite_note-19"><span class="cite-bracket">[</span>19<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading2"><h2 id="Further_reading">Further reading</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=24" title="Edit section: Further reading"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><style data-mw-deduplicate="TemplateStyles:r1238218222">.mw-parser-output cite.citation{font-style:inherit;word-wrap:break-word}.mw-parser-output .citation q{quotes:"\"""\"""'""'"}.mw-parser-output .citation:target{background-color:rgba(0,127,255,0.133)}.mw-parser-output .id-lock-free.id-lock-free a{background:url("//upload.wikimedia.org/wikipedia/commons/6/65/Lock-green.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-limited.id-lock-limited a,.mw-parser-output .id-lock-registration.id-lock-registration a{background:url("//upload.wikimedia.org/wikipedia/commons/d/d6/Lock-gray-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-subscription.id-lock-subscription a{background:url("//upload.wikimedia.org/wikipedia/commons/a/aa/Lock-red-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .cs1-ws-icon a{background:url("//upload.wikimedia.org/wikipedia/commons/4/4c/Wikisource-logo.svg")right 0.1em center/12px no-repeat}body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-free a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-limited a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-registration a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-subscription a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .cs1-ws-icon a{background-size:contain;padding:0 1em 0 0}.mw-parser-output .cs1-code{color:inherit;background:inherit;border:none;padding:inherit}.mw-parser-output .cs1-hidden-error{display:none;color:var(--color-error,#d33)}.mw-parser-output .cs1-visible-error{color:var(--color-error,#d33)}.mw-parser-output .cs1-maint{display:none;color:#085;margin-left:0.3em}.mw-parser-output .cs1-kern-left{padding-left:0.2em}.mw-parser-output .cs1-kern-right{padding-right:0.2em}.mw-parser-output .citation .mw-selflink{font-weight:inherit}@media screen{.mw-parser-output .cs1-format{font-size:95%}html.skin-theme-clientpref-night .mw-parser-output .cs1-maint{color:#18911f}}@media screen and (prefers-color-scheme:dark){html.skin-theme-clientpref-os .mw-parser-output .cs1-maint{color:#18911f}}</style><cite id="CITEREFBüttnerJanssenRostan2003" class="citation cs2">Büttner, H.; Janssen, D.; Rostan, M. (2003), <a rel="nofollow" class="external text" href="https://web.archive.org/web/20040508185716/https://www.pc-control.net/pdf/032003/pcc_0303_e.pdf">"EtherCAT - the Ethernet fieldbus"</a> <span class="cs1-format">(PDF)</span>, <i>PC Control Magazine</i>, <b>3</b>: <span class="nowrap">14–</span>19, archived from <a rel="nofollow" class="external text" href="https://www.pc-control.net/pdf/032003/pcc_0303_e.pdf">the original</a> <span class="cs1-format">(PDF)</span> on 8 May 2004</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=PC+Control+Magazine&rft.atitle=EtherCAT+-+the+Ethernet+fieldbus&rft.volume=3&rft.pages=%3Cspan+class%3D%22nowrap%22%3E14-%3C%2Fspan%3E19&rft.date=2003&rft.aulast=B%C3%BCttner&rft.aufirst=H.&rft.au=Janssen%2C+D.&rft.au=Rostan%2C+M.&rft_id=https%3A%2F%2Fwww.pc-control.net%2Fpdf%2F032003%2Fpcc_0303_e.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3AEtherCAT" class="Z3988"></span></li></ul> <ul><li><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFJanssenBüttner2004" class="citation cs2">Janssen, D.; Büttner, H. (2004), "Real-time Ethernet: the EtherCAT solution", <i>Computing & Control Engineering Journal</i>, <b>15</b>: <span class="nowrap">16–</span>21, <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<a rel="nofollow" class="external text" href="https://doi.org/10.1049%2Fcce%3A20040104">10.1049/cce:20040104</a> (inactive 7 December 2024)</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Computing+%26+Control+Engineering+Journal&rft.atitle=Real-time+Ethernet%3A+the+EtherCAT+solution&rft.volume=15&rft.pages=%3Cspan+class%3D%22nowrap%22%3E16-%3C%2Fspan%3E21&rft.date=2004&rft_id=info%3Adoi%2F10.1049%2Fcce%3A20040104&rft.aulast=Janssen&rft.aufirst=D.&rft.au=B%C3%BCttner%2C+H.&rfr_id=info%3Asid%2Fen.wikipedia.org%3AEtherCAT" class="Z3988"></span><span class="cs1-maint citation-comment"><code class="cs1-code">{{<a href="/wiki/Template:Citation" title="Template:Citation">citation</a>}}</code>: CS1 maint: DOI inactive as of December 2024 (<a href="/wiki/Category:CS1_maint:_DOI_inactive_as_of_December_2024" title="Category:CS1 maint: DOI inactive as of December 2024">link</a>)</span></li></ul> <ul><li><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFRostan2004" class="citation cs2">Rostan, M. (2004), <a rel="nofollow" class="external text" href="http://www.ethercat.org/pdf/english/Ethernet_for_Semi_0607.pdf"><i>SEMI Technical Symposium: Innovations in Semiconductor Manufacturing</i></a> <span class="cs1-format">(PDF)</span>, San Francisco, CA, USA: SEMI</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=book&rft.btitle=SEMI+Technical+Symposium%3A+Innovations+in+Semiconductor+Manufacturing&rft.place=San+Francisco%2C+CA%2C+USA&rft.pub=SEMI&rft.date=2004&rft.aulast=Rostan&rft.aufirst=M.&rft_id=http%3A%2F%2Fwww.ethercat.org%2Fpdf%2Fenglish%2FEthernet_for_Semi_0607.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3AEtherCAT" class="Z3988"></span></li> <li><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFPotraSebestyen2006" class="citation cs2">Potra, S.; Sebestyen, G. (2006), "EtherCAT Protocol Implementation Issues on an Embedded Linux Platform", <i>IEEE-TTTC International Conference on Automation, Quality and Testing, Robotics AQTR 2006</i>, Cluj-Napora, Romania: IEEE, pp. <span class="nowrap">420–</span>425</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=IEEE-TTTC+International+Conference+on+Automation%2C+Quality+and+Testing%2C+Robotics+AQTR+2006&rft.atitle=EtherCAT+Protocol+Implementation+Issues+on+an+Embedded+Linux+Platform&rft.pages=%3Cspan+class%3D%22nowrap%22%3E420-%3C%2Fspan%3E425&rft.date=2006&rft.aulast=Potra&rft.aufirst=S.&rft.au=Sebestyen%2C+G.&rfr_id=info%3Asid%2Fen.wikipedia.org%3AEtherCAT" class="Z3988"></span></li></ul> <ul><li><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFRobertzNilssonHenrikssonBlomdell2007" class="citation cs2">Robertz, S. G.; Nilsson, K.; Henriksson, R.; Blomdell, A. (2007), "Industrial robot motion control with real-time Java and EtherCAT", <i>12th IEEE International Conference on Emerging Technologies and Factory Automation</i>, Patras, Greece: IEEE</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=bookitem&rft.atitle=Industrial+robot+motion+control+with+real-time+Java+and+EtherCAT&rft.btitle=12th+IEEE+International+Conference+on+Emerging+Technologies+and+Factory+Automation&rft.place=Patras%2C+Greece&rft.pub=IEEE&rft.date=2007&rft.aulast=Robertz&rft.aufirst=S.+G.&rft.au=Nilsson%2C+K.&rft.au=Henriksson%2C+R.&rft.au=Blomdell%2C+A.&rfr_id=info%3Asid%2Fen.wikipedia.org%3AEtherCAT" class="Z3988"></span></li></ul> <ul><li><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFBeckmannSachs2007" class="citation cs2">Beckmann, G.; Sachs, J. (2007), <a rel="nofollow" class="external text" href="http://www.ethercat.org/pdf/english/pcc0107_safety_over_ethercat_e.pdf">"The safety solution for EtherCAT"</a> <span class="cs1-format">(PDF)</span>, <i>PC Control Magazine</i>, <b>1</b>: <span class="nowrap">22–</span>27</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=PC+Control+Magazine&rft.atitle=The+safety+solution+for+EtherCAT&rft.volume=1&rft.pages=%3Cspan+class%3D%22nowrap%22%3E22-%3C%2Fspan%3E27&rft.date=2007&rft.aulast=Beckmann&rft.aufirst=G.&rft.au=Sachs%2C+J.&rft_id=http%3A%2F%2Fwww.ethercat.org%2Fpdf%2Fenglish%2Fpcc0107_safety_over_ethercat_e.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3AEtherCAT" class="Z3988"></span></li></ul> <ul><li><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFCenaCibrario_BertolottiScanzioValenzano2010" class="citation cs2">Cena, Gianluca; Cibrario Bertolotti, Ivan; Scanzio, Stefano; Valenzano, Adriano; Zunino, Claudio (2010), "On the accuracy of the distributed clock mechanism in EtherCAT", <i>Factory Communication Systems (WFCS), 2010 8th IEEE International Workshop on</i>, Nancy, France: IEEE, pp. <span class="nowrap">43–</span>52, <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<a rel="nofollow" class="external text" href="https://doi.org/10.1109%2FWFCS.2010.5548638">10.1109/WFCS.2010.5548638</a>, <a href="/wiki/ISBN_(identifier)" class="mw-redirect" title="ISBN (identifier)">ISBN</a> <a href="/wiki/Special:BookSources/978-1-4244-5460-0" title="Special:BookSources/978-1-4244-5460-0"><bdi>978-1-4244-5460-0</bdi></a>, <a href="/wiki/S2CID_(identifier)" class="mw-redirect" title="S2CID (identifier)">S2CID</a> <a rel="nofollow" class="external text" href="https://api.semanticscholar.org/CorpusID:14517885">14517885</a></cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=bookitem&rft.atitle=On+the+accuracy+of+the+distributed+clock+mechanism+in+EtherCAT&rft.btitle=Factory+Communication+Systems+%28WFCS%29%2C+2010+8th+IEEE+International+Workshop+on&rft.place=Nancy%2C+France&rft.pages=%3Cspan+class%3D%22nowrap%22%3E43-%3C%2Fspan%3E52&rft.pub=IEEE&rft.date=2010&rft_id=https%3A%2F%2Fapi.semanticscholar.org%2FCorpusID%3A14517885%23id-name%3DS2CID&rft_id=info%3Adoi%2F10.1109%2FWFCS.2010.5548638&rft.isbn=978-1-4244-5460-0&rft.aulast=Cena&rft.aufirst=Gianluca&rft.au=Cibrario+Bertolotti%2C+Ivan&rft.au=Scanzio%2C+Stefano&rft.au=Valenzano%2C+Adriano&rft.au=Zunino%2C+Claudio&rfr_id=info%3Asid%2Fen.wikipedia.org%3AEtherCAT" class="Z3988"></span></li></ul> <div class="mw-heading mw-heading2"><h2 id="Notes_and_references">Notes and references</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=25" title="Edit section: Notes and references"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <style data-mw-deduplicate="TemplateStyles:r1239543626">.mw-parser-output .reflist{margin-bottom:0.5em;list-style-type:decimal}@media screen{.mw-parser-output .reflist{font-size:90%}}.mw-parser-output .reflist .references{font-size:100%;margin-bottom:0;list-style-type:inherit}.mw-parser-output .reflist-columns-2{column-width:30em}.mw-parser-output .reflist-columns-3{column-width:25em}.mw-parser-output .reflist-columns{margin-top:0.3em}.mw-parser-output .reflist-columns ol{margin-top:0}.mw-parser-output .reflist-columns li{page-break-inside:avoid;break-inside:avoid-column}.mw-parser-output .reflist-upper-alpha{list-style-type:upper-alpha}.mw-parser-output .reflist-upper-roman{list-style-type:upper-roman}.mw-parser-output .reflist-lower-alpha{list-style-type:lower-alpha}.mw-parser-output .reflist-lower-greek{list-style-type:lower-greek}.mw-parser-output .reflist-lower-roman{list-style-type:lower-roman}</style><div class="reflist"> <div class="mw-references-wrap mw-references-columns"><ol class="references"> <li id="cite_note-1"><span class="mw-cite-backlink"><b><a href="#cite_ref-1">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFReinhold_Schäfer2021" class="citation web cs1 cs1-prop-foreign-lang-source">Reinhold Schäfer (2021-04-19). <a rel="nofollow" class="external text" href="https://www.elektrotechnik.vogel.de/industrial-ethernet-ist-auf-dem-vormarsch-a-f6aee6bf47d678ccf5dbcee5169c945d/">"Vernetzung: Industrial Ethernet auf dem Vormarsch"</a>. <i>Elektrotechnik</i> (in German)<span class="reference-accessdate">. Retrieved <span class="nowrap">2023-02-15</span></span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=Elektrotechnik&rft.atitle=Vernetzung%3A+Industrial+Ethernet+auf+dem+Vormarsch&rft.date=2021-04-19&rft.au=Reinhold+Sch%C3%A4fer&rft_id=https%3A%2F%2Fwww.elektrotechnik.vogel.de%2Findustrial-ethernet-ist-auf-dem-vormarsch-a-f6aee6bf47d678ccf5dbcee5169c945d%2F&rfr_id=info%3Asid%2Fen.wikipedia.org%3AEtherCAT" class="Z3988"></span></span> </li> <li id="cite_note-2"><span class="mw-cite-backlink"><b><a href="#cite_ref-2">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFEtherCATGroup2012" class="citation cs2">EtherCATGroup (2012-02-23), <a rel="nofollow" class="external text" href="https://www.youtube.com/watch?v=N2HJq62qP9M"><i>EtherCAT Functional Principle (3D)</i></a>, <a rel="nofollow" class="external text" href="https://ghostarchive.org/varchive/youtube/20211214/N2HJq62qP9M">archived</a> from the original on 2021-12-14<span class="reference-accessdate">, retrieved <span class="nowrap">2019-04-09</span></span></cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=book&rft.btitle=EtherCAT+Functional+Principle+%283D%29&rft.date=2012-02-23&rft.au=EtherCATGroup&rft_id=https%3A%2F%2Fwww.youtube.com%2Fwatch%3Fv%3DN2HJq62qP9M&rfr_id=info%3Asid%2Fen.wikipedia.org%3AEtherCAT" class="Z3988"></span></span> </li> <li id="cite_note-3"><span class="mw-cite-backlink"><b><a href="#cite_ref-3">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFGuido_Beckmann2009" class="citation web cs1 cs1-prop-foreign-lang-source">Guido Beckmann (2009-01-12). <a rel="nofollow" class="external text" href="https://www.konstruktionspraxis.vogel.de/safety-over-ethercat-ermoeglicht-die-integration-der-sicherheitloesung-in-das-maschinenkonzept-a-168284/">"Sicherheit für EtherCAT: Safety-over-EtherCAT ermöglicht die Integration der Sicherheitlösung in das Maschinenkonzept"</a>. <i>Konstruktionspraxis</i> (in German)<span class="reference-accessdate">. Retrieved <span class="nowrap">2023-02-13</span></span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=Konstruktionspraxis&rft.atitle=Sicherheit+f%C3%BCr+EtherCAT%3A+Safety-over-EtherCAT+erm%C3%B6glicht+die+Integration+der+Sicherheitl%C3%B6sung+in+das+Maschinenkonzept&rft.date=2009-01-12&rft.au=Guido+Beckmann&rft_id=https%3A%2F%2Fwww.konstruktionspraxis.vogel.de%2Fsafety-over-ethercat-ermoeglicht-die-integration-der-sicherheitloesung-in-das-maschinenkonzept-a-168284%2F&rfr_id=info%3Asid%2Fen.wikipedia.org%3AEtherCAT" class="Z3988"></span></span> </li> <li id="cite_note-4"><span class="mw-cite-backlink"><b><a href="#cite_ref-4">^</a></b></span> <span class="reference-text">Verhappen, Ian. <a rel="nofollow" class="external text" href="http://www.controlglobal.com/articles/2011/HiddenNetwork1102.html">"The Hidden Network"</a>, Feb 14, 2011</span> </li> <li id="cite_note-5"><span class="mw-cite-backlink"><b><a href="#cite_ref-5">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://www.ethercat.org/en/technology.html">"EtherCAT Technology Group | EtherCAT"</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=EtherCAT+Technology+Group+%26%23124%3B+EtherCAT&rft_id=https%3A%2F%2Fwww.ethercat.org%2Fen%2Ftechnology.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3AEtherCAT" class="Z3988"></span></span> </li> <li id="cite_note-ETG_Members_List-6"><span class="mw-cite-backlink"><b><a href="#cite_ref-ETG_Members_List_6-0">^</a></b></span> <span class="reference-text">ETG Members List, <a rel="nofollow" class="external free" href="https://www.ethercat.org/en/members.php">https://www.ethercat.org/en/members.php</a></span> </li> <li id="cite_note-7"><span class="mw-cite-backlink"><b><a href="#cite_ref-7">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222" /><cite id="CITEREFSariana_Kunze2011" class="citation web cs1 cs1-prop-foreign-lang-source">Sariana Kunze (2011-01-14). <a rel="nofollow" class="external text" href="https://www.elektrotechnik.vogel.de/die-groesste-feldbusorganisation-der-welt-a-299014/">"EtherCAT Technology Group: Die größte Feldbusorganisation der Welt"</a>. <i>Elektrotechnik</i> (in German)<span class="reference-accessdate">. Retrieved <span class="nowrap">2023-02-14</span></span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=Elektrotechnik&rft.atitle=EtherCAT+Technology+Group%3A+Die+gr%C3%B6%C3%9Fte+Feldbusorganisation+der+Welt&rft.date=2011-01-14&rft.au=Sariana+Kunze&rft_id=https%3A%2F%2Fwww.elektrotechnik.vogel.de%2Fdie-groesste-feldbusorganisation-der-welt-a-299014%2F&rfr_id=info%3Asid%2Fen.wikipedia.org%3AEtherCAT" class="Z3988"></span></span> </li> <li id="cite_note-8"><span class="mw-cite-backlink"><b><a href="#cite_ref-8">^</a></b></span> <span class="reference-text">EtherCAT Plug Fests, <a rel="nofollow" class="external free" href="https://www.ethercat.org/en/plug_fest.htm">https://www.ethercat.org/en/plug_fest.htm</a></span> </li> <li id="cite_note-9"><span class="mw-cite-backlink"><b><a href="#cite_ref-9">^</a></b></span> <span class="reference-text">EtherCAT Application Articles, <a rel="nofollow" class="external free" href="https://www.ethercat.org/en/downloads.html?tf=Applications">https://www.ethercat.org/en/downloads.html?tf=Applications</a></span> </li> <li id="cite_note-10"><span class="mw-cite-backlink"><b><a href="#cite_ref-10">^</a></b></span> <span class="reference-text">EtherCAT Conformance Test Tool, <a rel="nofollow" class="external free" href="https://www.ethercat.org/en/ctt.htm">https://www.ethercat.org/en/ctt.htm</a></span> </li> <li id="cite_note-11"><span class="mw-cite-backlink"><b><a href="#cite_ref-11">^</a></b></span> <span class="reference-text">IEC/PAS 62407 (Ed 1.0), <i>Real-time Ethernet control automation technology (EtherCAT)</i></span> </li> <li id="cite_note-12"><span class="mw-cite-backlink"><b><a href="#cite_ref-12">^</a></b></span> <span class="reference-text">IEC 61158-2 (Ed.4.0), <i>Industrial communication networks - Fieldbus specifications</i> - Part 2: Physical layer specification and service definition</span> </li> <li id="cite_note-13"><span class="mw-cite-backlink"><b><a href="#cite_ref-13">^</a></b></span> <span class="reference-text">IEC 61158-3/4/5/6-12 (Ed.1.0), <i>Industrial communication networks - Fieldbus specifications</i> - Part 3-12: Data-link layer service definition - Part 4-12: Data-link layer protocol specification - Part 5-12: Application layer service definition - Part 6-12: Application layer protocol specification -Type 12 elements (EtherCAT)</span> </li> <li id="cite_note-14"><span class="mw-cite-backlink"><b><a href="#cite_ref-14">^</a></b></span> <span class="reference-text">IEC 61784-2 (Ed.1.0), <i>Industrial communication networks - Profiles</i> - Part 2: Additional fieldbus profiles for real-time networks based on ISO/IEC 8802-3</span> </li> <li id="cite_note-15"><span class="mw-cite-backlink"><b><a href="#cite_ref-15">^</a></b></span> <span class="reference-text">IEC 61800-7-301/304 (Ed.1.0), <i>Adjustable speed electrical power drive systems</i> - Part 7-301: Generic interface and use of profiles for power drive systems - Mapping of profile type 1 to network technologies - Part 7-304: Generic interface and use of profiles for power drive systems - Mapping of profile type 4 to network technologies</span> </li> <li id="cite_note-16"><span class="mw-cite-backlink"><b><a href="#cite_ref-16">^</a></b></span> <span class="reference-text">ISO 15745-4:2003/Amd 2:2007, <i>Industrial automation systems and integration -- Open systems application integration framework</i> - Part 4: Reference description for Ethernet-based control systems</span> </li> <li id="cite_note-17"><span class="mw-cite-backlink"><b><a href="#cite_ref-17">^</a></b></span> <span class="reference-text">SEMI E54.20-1108 - <i>Standard for Sensor/Actuator Network Communications for EtherCAT</i></span> </li> <li id="cite_note-18"><span class="mw-cite-backlink"><b><a href="#cite_ref-18">^</a></b></span> <span class="reference-text">IEC 61784-3 <i>Industrial communication networks</i> - Profiles - Part 3: Functional safety fieldbuses</span> </li> <li id="cite_note-19"><span class="mw-cite-backlink"><b><a href="#cite_ref-19">^</a></b></span> <span class="reference-text">IEC 61784-5 <i>Industrial communication networks</i> - Profiles - Part 5: Installation of fieldbuses</span> </li> </ol></div></div> <div class="mw-heading mw-heading2"><h2 id="External_links">External links</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=EtherCAT&action=edit&section=26" title="Edit section: External links"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><a rel="nofollow" class="external text" href="http://www.ethercat.org">EtherCAT Technology Group</a></li> <li><a rel="nofollow" class="external text" href="https://openethercatsociety.github.io">Open EtherCAT Society</a>, <a href="/wiki/Open_source" title="Open source">open source</a> Master and Slave EtherCAT stacks for the embedded market</li> <li><a rel="nofollow" class="external text" href="http://www.etherlab.org/en/ethercat/index.php">Open Source EtherCAT Master for Linux/Real Time Kernel</a></li> <li><a rel="nofollow" class="external text" href="https://wenku.baidu.com/view/927623e2336c1eb91a375da3.html">Rapid prototyping EtherCAT slave with ArduCAT (an Arduino compatible board)</a></li> <li><a rel="nofollow" class="external text" href="https://answers.ros.org/question/240550/elmo-motor-drive-ethercat-and-ros/#247496">Ethercat for multi BLDC motor communication</a></li></ul> <div class="navbox-styles"><style data-mw-deduplicate="TemplateStyles:r1129693374">.mw-parser-output .hlist dl,.mw-parser-output .hlist ol,.mw-parser-output .hlist ul{margin:0;padding:0}.mw-parser-output .hlist dd,.mw-parser-output .hlist dt,.mw-parser-output .hlist li{margin:0;display:inline}.mw-parser-output .hlist.inline,.mw-parser-output .hlist.inline dl,.mw-parser-output .hlist.inline ol,.mw-parser-output .hlist.inline ul,.mw-parser-output .hlist dl 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Networks</a></li> <li><a href="/wiki/Common_Industrial_Protocol" title="Common Industrial Protocol">CIP</a></li> <li><a href="/wiki/CAN_bus" title="CAN bus">CAN bus</a> <ul><li><a href="/wiki/CANopen" title="CANopen">CANopen</a></li> <li><a href="/wiki/DeviceNet" title="DeviceNet">DeviceNet</a></li></ul></li> <li><a href="/wiki/ControlNet" title="ControlNet">ControlNet</a></li> <li><a href="/wiki/DF-1_Protocol" title="DF-1 Protocol">DF-1</a></li> <li><a href="/wiki/DirectNET_Protocol" title="DirectNET Protocol">DirectNET</a></li> <li><a class="mw-selflink selflink">EtherCAT</a></li> <li><a href="/wiki/Ethernet_Global_Data_Protocol" title="Ethernet Global Data Protocol">Ethernet Global Data (EGD)</a></li> <li><a href="/wiki/Ethernet_Powerlink" title="Ethernet Powerlink">Ethernet Powerlink</a></li> <li><a href="/wiki/EtherNet/IP" title="EtherNet/IP">EtherNet/IP</a></li> <li><a href="/wiki/Factory_Instrumentation_Protocol" title="Factory Instrumentation Protocol">Factory Instrumentation Protocol</a></li> <li><a href="/wiki/Factory_Interface_Network_Service" title="Factory Interface Network Service">FINS</a></li> <li><a href="/wiki/FOUNDATION_fieldbus" class="mw-redirect" title="FOUNDATION fieldbus">FOUNDATION fieldbus</a> <ul><li><a href="/wiki/Foundation_Fieldbus_H1" title="Foundation Fieldbus H1">H1</a></li> <li><a href="/wiki/Higher_Speed_Ethernet" class="mw-redirect" title="Higher Speed Ethernet">HSE</a></li></ul></li> <li><a href="/wiki/Service_Request_Transport_Protocol" title="Service Request Transport Protocol">GE SRTP</a></li> <li><a href="/wiki/Highway_Addressable_Remote_Transducer_Protocol" title="Highway Addressable Remote Transducer Protocol">HART Protocol</a></li> <li><a href="/wiki/SDS_Protocol" title="SDS Protocol">Honeywell SDS</a></li> <li><a href="/wiki/HostLink_Protocol" title="HostLink Protocol">HostLink</a></li> <li><a href="/wiki/INTERBUS" title="INTERBUS">INTERBUS</a></li> <li><a href="/wiki/IO-Link" title="IO-Link">IO-Link</a></li> <li><a href="/wiki/MECHATROLINK" title="MECHATROLINK">MECHATROLINK</a></li> <li><a href="/wiki/MelsecNet" title="MelsecNet">MelsecNet</a></li> <li><a href="/wiki/Modbus" title="Modbus">Modbus</a></li> <li><a href="/wiki/Optomux" title="Optomux">Optomux</a></li> <li>Process Image Exchange Protocol (PieP)</li> <li><a href="/wiki/PROFIBUS" class="mw-redirect" title="PROFIBUS">PROFIBUS</a></li> <li><a href="/wiki/PROFINET" class="mw-redirect" title="PROFINET">PROFINET</a></li> <li><a href="/wiki/RAPIEnet" title="RAPIEnet">RAPIEnet</a></li> <li><a href="/wiki/SERCOS_interface" title="SERCOS interface">SERCOS interface</a></li> <li><a href="/wiki/SERCOS_III" title="SERCOS III">SERCOS III</a></li> <li><a href="/wiki/Sinec_H1" title="Sinec H1">Sinec H1</a></li> <li><a href="/wiki/SynqNet" title="SynqNet">SynqNet</a></li> <li><a href="/wiki/TTEthernet" title="TTEthernet">TTEthernet</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="/wiki/Industrial_control_system" title="Industrial control system">Industrial control system</a></th><td class="navbox-list-with-group navbox-list navbox-even hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/MTConnect" title="MTConnect">MTConnect</a></li> <li><a href="/wiki/OPC_Data_Access" title="OPC Data Access">OPC DA</a></li> <li><a href="/wiki/OPC_Historical_Data_Access" title="OPC Historical Data Access">OPC HDA</a></li> <li><a href="/wiki/OPC_Unified_Architecture" title="OPC Unified Architecture">OPC UA</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="/wiki/Building_automation" title="Building automation">Building automation</a></th><td class="navbox-list-with-group navbox-list navbox-odd hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/1-Wire" title="1-Wire">1-Wire</a></li> <li><a href="/wiki/BACnet" title="BACnet">BACnet</a></li> <li><a href="/wiki/BatiBUS" title="BatiBUS">BatiBUS</a></li> <li><a href="/wiki/C-Bus_(protocol)" title="C-Bus (protocol)">C-Bus</a></li> <li><a href="/wiki/CEBus" title="CEBus">CEBus</a></li> <li><a href="/wiki/Digital_Addressable_Lighting_Interface" title="Digital Addressable Lighting Interface">DALI</a></li> <li><a href="/wiki/Digital_Serial_Interface" title="Digital Serial Interface">DSI</a></li> <li><a href="/wiki/DyNet" title="DyNet">DyNet</a></li> <li><a href="/wiki/EnOcean" title="EnOcean">EnOcean</a></li> <li><a href="/wiki/European_Home_Systems_Protocol" title="European Home Systems Protocol">EHS</a></li> <li><a href="/wiki/European_Installation_Bus" class="mw-redirect" title="European Installation Bus">EIB</a></li> <li><a href="/wiki/Factory_Instrumentation_Protocol" title="Factory Instrumentation Protocol">FIP</a></li> <li><a href="/wiki/KNX" title="KNX">KNX</a></li> <li><a href="/wiki/LonTalk" title="LonTalk">LonTalk</a></li> <li><a href="/wiki/Modbus" title="Modbus">Modbus</a></li> <li><a href="/wiki/OpenTherm" title="OpenTherm">OpenTherm</a></li> <li><a href="/wiki/OBIX" title="OBIX">oBIX</a></li> <li><a href="/wiki/Very_Simple_Control_Protocol" title="Very Simple Control Protocol">VSCP</a></li> <li><a href="/wiki/X10_(industry_standard)" title="X10 (industry standard)">X10</a></li> <li><a href="/wiki/XAP_Home_Automation_protocol" title="XAP Home Automation protocol">xAP</a></li> <li><a href="/wiki/XPL_Protocol" title="XPL Protocol">xPL</a></li> <li><a href="/wiki/Z-Wave" title="Z-Wave">Z-Wave</a></li> <li><a href="/wiki/Zigbee" title="Zigbee">Zigbee</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="/wiki/Power-system_automation" title="Power-system automation">Power-system automation</a></th><td class="navbox-list-with-group navbox-list navbox-even hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/IEC_60870" title="IEC 60870">IEC 60870</a> <ul><li><a href="/wiki/IEC_60870-5" title="IEC 60870-5">IEC 60870-5</a></li> <li><a href="/wiki/IEC_60870-6" title="IEC 60870-6">IEC 60870-6</a></li></ul></li> <li><a href="/wiki/DNP3" title="DNP3">DNP3</a></li> <li><a href="/wiki/Factory_Instrumentation_Protocol" title="Factory Instrumentation Protocol">Factory Instrumentation Protocol</a></li> <li><a href="/wiki/IEC_61850" title="IEC 61850">IEC 61850</a></li> <li><a href="/wiki/IEC_62351" title="IEC 62351">IEC 62351</a></li> <li><a href="/wiki/Modbus" title="Modbus">Modbus</a></li> <li><a href="/wiki/PROFIBUS" class="mw-redirect" title="PROFIBUS">PROFIBUS</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="/wiki/Automatic_meter_reading" title="Automatic meter reading">Automatic meter reading</a></th><td class="navbox-list-with-group navbox-list navbox-odd hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/Smart_meter#Protocols" title="Smart meter">ANSI C12.18</a></li> <li><a href="/wiki/Smart_meter#Protocols" title="Smart meter">IEC 61107</a></li> <li><a href="/wiki/IEC_62056" title="IEC 62056">DLMS/IEC 62056</a></li> <li><a href="/wiki/Meter-Bus" title="Meter-Bus">M-Bus</a></li> <li><a href="/wiki/Modbus" title="Modbus">Modbus</a></li> <li><a href="/wiki/Zigbee" title="Zigbee">Zigbee</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Automobile / <a href="/wiki/Vehicle_bus" title="Vehicle bus">Vehicle</a></th><td class="navbox-list-with-group navbox-list navbox-even hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/Avionics_Full-Duplex_Switched_Ethernet" title="Avionics Full-Duplex Switched Ethernet">AFDX</a></li> <li><a href="/wiki/ARINC_429" title="ARINC 429">ARINC 429</a></li> <li><a href="/wiki/CAN_bus" title="CAN bus">CAN bus</a> <ul><li><a href="/w/index.php?title=ARINC_825&action=edit&redlink=1" class="new" title="ARINC 825 (page does not exist)">ARINC 825</a></li> <li><a href="/wiki/SAE_J1939" title="SAE J1939">SAE J1939</a></li> <li><a href="/wiki/NMEA_2000" title="NMEA 2000">NMEA 2000</a></li> <li><a href="/wiki/Fleet_Management_System" title="Fleet Management System">FMS</a></li></ul></li> <li><a href="/wiki/Factory_Instrumentation_Protocol" title="Factory Instrumentation Protocol">Factory Instrumentation Protocol</a></li> <li><a href="/wiki/FlexRay" title="FlexRay">FlexRay</a></li> <li><a href="/wiki/IEBus" title="IEBus">IEBus</a></li> <li><a href="/wiki/SAE_J1587" title="SAE J1587">J1587</a></li> <li><a href="/wiki/SAE_J1708" title="SAE J1708">J1708</a></li> <li><a href="/wiki/Keyword_Protocol_2000" title="Keyword Protocol 2000">Keyword Protocol 2000</a></li> <li><a href="/wiki/Unified_Diagnostic_Services" title="Unified Diagnostic Services">Unified Diagnostic Services</a></li> <li><a href="/wiki/Local_Interconnect_Network" title="Local Interconnect Network">LIN</a></li> <li><a href="/wiki/MOST_Bus" title="MOST 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