此为interbus数据链路层功能:
数据链路层
协议传输 全双工、集总帧(summation-frame)结构 网络上所有I/O可同时更新数据
协议仲裁 无仲裁 数据可无干扰连续传送
数据吞吐量 7.8ms内可读写4096个数据 I/O数据更新时间比解决应用逻辑需要时间快数倍
错误校验 每次网络联接都进行CRC校验 传输数据更可靠、正确
其实EtherCAT数据链路层提供的IO节点需要更新的数据有FMMU模块直接集成到数据帧格式中发送出去,此过程为硬件逻辑实现,不需软件实现数据帧,此过程节省的时间才是真正的实时意义。再加上IEEE1588分步时钟的演绎,确实不错。就是贵,1W片时,90
以下是ETG组织官网上所列出的目前支持EtherCAT协议的产品及厂商列表,就规模而言在欧美也可算得上颇有声势了。
EtherCAT Products
EtherCAT Master Devices
· PC-based Control Systems, Soft-PLC
· PLC, Motion Controller, Embedded Controller
PC-based Control Systems, Soft-PLC
· 3S-Smart Software Solutions
CoDeSys V3
· BECKHOFF Automation
PLC and Motion Control Software TwinCAT
· IAV
IAV-MPEC®
· IBHsoftec
SoftPLC PLC S7-315® / PLC S7-416®
· Ingenieurgemeinschaft IgH
EtherCAT Master for Linux as part of EtherLab®
· Hilscher
PCI Cards cifX
· Hilscher
Communication Modules comX
· Kithara Software
RealTime Suite
· KUHNKE Automation
Ventura IPC
· KUHNKE Automation
Ventura Skaleo 100
· KW-Software
MULTIPROG and ProConOS
· Lenze
L-force Logic & Motion
· logi.cals
logi.CAD, logi.PLC, logi.DOC
· Ma.Vi.
mvPMC-eCAT Master PCI Board
· Soft Servo Systems
SMP3200 General Motion Control Software
· Soft Servo Systems
ServoWorks CNC Control Software
· STEINHOFF Automation
DACHS EtherCAT Master for QNX
PLC, Motion Controller, Embedded Controller
· Baumüller
b maXX®-controllerPLC
· Baumüller
b maXX®-safePLC
· BECKHOFF Automation
Embedded PC series CX1020, CX1030
· BECKHOFF Automation
Embedded PC series CX9000, CX9010
· Binar
Heavy-Duty PLC- and Motion Controller
· Binar
Heavy-Duty HMI, PLC- and Motion Controller
· Deutschmann Automation
LOCON 100/200 EtherCAT
· Digitronic
Programmable Limit Switch CamCon DC190
· Elmo Motion Control
Gold Maestro
· Grossenbacher Systeme
Embedded Touchpanel
· IBHsoftec
S7-CX317
· IBHsoftec
S7-CX317 S
· IBHsoftec
S7-CX416
· ISAC
PAC ACHILLE
· KEBA
KeControl C2 – CP25x
· Kontron
ECAT Master DIN Rail PC - ThinkIO-Duo
· Kontron
ECAT Master DIN Rail PC - ThinkIO-P
· Kontron
JRex™-IBOX-PM
· Kontron
Panel PC - V Panel Express
· Moog
MSC II
· Moog
MSD Motion Controller
· Trio Motion Technology
MC464 and EtherCAT Interface
· VIPA
CPU 315SN/NET - SPEED7™-Technology
EtherCAT Slave Devices
· Drive Technology
· I/O Systems
· Sensors
· Gateways
· Communication Modules, Interface Cards
· Hydraulic & Pneumatic Valve Systems
· Operator Interfaces
Drive Technology
· ACS Motion Control
SPiiPlus CM Multi-Axis Motion Controller
· AMK
AMKSYN Servo Inverter Series KE/KW
· Baumüller
b maXX® Servo Drive
· BECKHOFF Automation
Digital Compact Servo Drive AX2000
· BECKHOFF Automation
Digital Compact Servo Drive AX5000
· Brunner Elektronik
Micro Drive - Small AC Servo Drive
· Control Techniques
Commander SK Drive Range
· Control Techniques
Digitax ST Drive Range
· Control Techniques
Unidrive SP Drive Range
· Converteam
Frequency Converter MD2000
· Copley Controls
Digital Servo Drive Accelnet Panel
· Copley Controls
Digital Servo Drive Xenus Plus
· Elmo Motion Control
Gold Duo
· Elmo Motion Control
Gold Guitar
· esitron-electronic
esiMot XL - Decentralised Servo Drives
· ESR Pollmeier
TrioDrive D/ES and MidiDrive D/ES Servo Drives
· Harmonic Drive
YukonDrive
· Jenaer Antriebstechnik
ECOVARIO®
· KEB
Combivert F5
· Kollmorgen
AKD™ Servo Drive
· Kollmorgen
SERVOSTAR® 300 and S700 Servo Drives
· KUHNKE Automation
Ventura FIO Drive Control
· KUHNKE Automation
Ventura Fuxx
· IDAM (INA Drives & Mechatronics)
Digital Servo Modul DSMRW
· Lenze
ECS Servo System
· Lenze
8200 Vector Frequency Inverter
· Lenze
L-force 8400 Inverter Drives
· Lenze
L-force 9400 Servo Drives
· LinMot
Digital Servo Controller Series E1250
· LTi DRiVES
Servodrive ServoOne
· Moog
MSD Servodrive
· Parker Hannifin
Compax3 – High Performance Servo Drive
· Parker Hannifin
Motornet DC
· Parker Hannifin
SLVDN – Compact Servo Drive
· Parker Hannifin
TPD-M – Triple Power Drive
· Schneider Electric Motion Deutschland
IclA - Intelligent Compact Drives
· SEW-EURODRIVE
MOVIAXIS® MXA80A multi axis servo amplifier
· SEW-EURODRIVE
MOVIDRIVE® MDX60B/61B drive inverter
· SEW-EURODRIVE
MOVITRAC® MC07B frequency inverter
· STÖBER ANTRIEBSTECHNIK
POSIDRIVE® MDS 5000
· STÖBER ANTRIEBSTECHNIK
POSIDRIVE® FDS 5000
· STÖBER ANTRIEBSTECHNIK
POSIDYN® SDS 5000
· Yaskawa Electric
SGDV Sigma-5 Servo Amplifier
· zub machine control
MACS4-DC6: Multi-Axis Motion Control
· zub machine control
MACS4-DSP: Multi-Axis Positioning and Synchronization
I/O Systems
· BECKHOFF Automation
EtherCAT Terminals
· BECKHOFF Automation
FieldbusBox IL230x-B110 in IP67
· BECKHOFF Automation
EtherCAT Box, IP67 EtherCAT I/Os
· KUHNKE Automation
EtherCAT I/O Modules in IP65
· KUHNKE Automation
Ventura FIO EtherCAT I/O
· KUHNKE Automation
Ventura Smart Solution Power Controller
· Grossenbacher Systeme
CIO: Compact-I/O EtherCAT
· SHF Communication Technologies
EtherCAT I/O Devices
· Ma.Vi.
EtherCAT mvTBI (Terminal Board Intelligenti)
· MKS Instruments
ECM – Ethernet Control Module
· MKS Instruments
MacroNode I/O with EtherCAT
· Murrelektronik
IMPACT67 EtherCAT Modules
· UNiDOR
smartAMP II
Sensors
· Baumer IVO
Absolute Multiturn Encoder GxMMW
· Baumer Thalheim
Absolute Multiturn Encoder ATD 4B Series
· Baumer Thalheim
Absolute Multiturn Encoder ATD 2B Series
· POSITAL
OPTOCODE EtherCAT
· Fritz Kübler
Sendix Absolute Multiturn Encoder
· MTS Sensor Technologie
Temposonics® EtherCAT Position Sensor
· TR-Electronic
Absolute Rotary Multiturn Encoders
· TR-Electronic
Linear Absolute Encoders
· TWK-ELEKTRONIK
Absolute Multiturn Encoders
· TWK-ELEKTRONIK
Magnetostrictive Linear Transducers
Gateways
· BECKHOFF Automation
EtherCAT/Fieldbus Gateways
· BECKHOFF Automation
EtherCAT/Ethernet Switch Terminals
· BECKHOFF Automation
EtherCAT Bridge Terminal EL6692
· Bihl+Wiedemann
AS-i 3.0 EtherCAT Gateways in Stainless Steel
· Deutschmann Automation
UNIGATE CL-EtherCAT
· Deutschmann Automation
UNIGATE FB
· esd electronic system design
EtherCAT/CAN Gateway
· HBM
QuantumX
· Hilscher
netTap 100
· HMS Industrial Networks
Anybus X-gateways™
· HMS Industrial Networks
Anybus Communicator™
· Industrial Control Communications
ECAT-1000 Multiprotocol Gateway
· KUHNKE Automation
EtherCAT/PROFIBUS-DP Gateway
· port
EtherCAT Server
· Weidmüller Interface
Industrial Access Routers
Communication Modules, Interface Cards
· BECKHOFF Automation
EtherCAT Piggyback Controller Boards FB11xx
· BECKHOFF Automation
PCI EtherCAT slave card FC1100
· Deutschmann Automation
UNIGATE IC-EtherCAT
· DLR Institute of Robotics and Mechatonics
EtherCAT Slave Plug-In Card
· Hilscher
Communication Modules comX
· Hilscher
netIC
· Hilscher
PCI Cards cifX
· HMS Industrial Networks
Anybus CompactCom
· HMS Industrial Networks
Anybus-S Interface Module for EtherCAT
· IXXAT Automation
EtherCAT Slave Modul
· KOENIG Prozessautomatisierung
KPA Slave EtherCAT PCI
· KOENIG Prozessautomatisierung
KPA Slave EtherCAT PC104
· N.A.T.
AMC EtherCAT Slave Module
Hydraulic & Pneumatic Valve Systems
· Festo
EtherCAT Pneumatic Valve Manifold with CPX Remote I/O
· Moog
Digital Interface Valve (DIV)
· SMC Group
EtherCAT Pneumatic Valve Manifold in IP67
Operator Interfaces
· Hilscher
netX HMI modules
· KEBA
Handheld terminal – KeTop C35
· RAFI
EtherCAT Keyboard Interface Adapter
应该说Powerlink和Ethernet各有所长,
Powerlink无需专用芯片,源代码开放,只要有以太网的平台就可以升级支持Powerlink。最快总线周期200us(不算快)。
Ethercat可以做到更快的总线周期,100us,50us?但是一个周期内所有主从站收发总字节数限制在了以太网的一个标准桢的范围内,应该是1492字节左右。另外就是前面的节点如果想得到后面的节点的数据,需要把数据在网络上再传递一周,这样就需要两个周期的时间来同步所有的数据。
综合来看
Ethercat的优势:
1,通过总线快速采集数据并处理,例如示波器功能。需要I/O极快速响应的项目。
2,CNC多轴快速网络通讯,因为CNC是主从方式通讯,轴之间不需要交互通讯,所以一个周期就可以同步。
Powerlink的优势:
1,随着G比特网络技术被尴尬的放弃,10G比特网络会替代现有的1000M网络成为主流,基于软件实现的Powerlink可以无缝升级,而Ethercat只能等待专用的芯片了。
2,在运动控制中最重要的不是更快的循环周期,而是低抖动。在这一指标上,两者差不多。而Powerlink在多轴且轴之间有交互通讯的时候,会更有优势。因为不受单桢字节限制而且一个周期就可以同步所有数据。
前面讲的一个例子,1ms在3000rpm的时候对应18度,这没有错,但是即使是1ms的通讯周期,伺服会差18度吗?难道网络就没有同步报文的机制吗(连CANOPEN都有)?这很明显是在偷换概念。
另外,波恩斑竹经常说不看好Powerlink,可以说说为什么吗?