IEC-PAS-62407-2005.pdf
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1、 PUBLICLY AVAILABLE SPECIFICATION IEC PAS 62407 Pre-Standard First edition 2005-06 Real-time Ethernet control automation technology (EtherCATTM) Reference number IEC/PAS 62407:2005(E) Copyright International Electrotechnical Commission Provided by IHS under license with IECLicensee=IHS Employees/111
2、1111001, User=listmgr, listmgr Not for Resale, 03/06/2007 01:00:48 MSTNo reproduction or networking permitted without license from IHS -,-,- Publication numbering As from 1 January 1997 all IEC publications are issued with a designation in the 60000 series. For example, IEC 34-1 is now referred to a
3、s IEC 60034-1. Consolidated editions The IEC is now publishing consolidated versions of its publications. For example, edition numbers 1.0, 1.1 and 1.2 refer, respectively, to the base publication, the base publication incorporating amendment 1 and the base publication incorporating amendments 1 and
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8、 you have any questions regarding this publication or need further assistance, please contact the Customer Service Centre: Email: custserviec.ch Tel: +41 22 919 02 11 Fax: +41 22 919 03 00 Copyright International Electrotechnical Commission Provided by IHS under license with IECLicensee=IHS Employee
9、s/1111111001, User=listmgr, listmgr Not for Resale, 03/06/2007 01:00:48 MSTNo reproduction or networking permitted without license from IHS -,-,- PUBLICLY AVAILABLE SPECIFICATION IEC PAS 62407 Pre-Standard First edition 2005-06 Real-time Ethernet control automation technology (EtherCATTM) PRICE CODE
10、 IEC 2005 Copyright - all rights reserved No part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from the publisher. International Electrotechnical Commission, 3, rue de Vare
11、mb, PO Box 131, CH-1211 Geneva 20, Switzerland Telephone: +41 22 919 02 11 Telefax: +41 22 919 03 00 E-mail: inmailiec.ch Web: www.iec.ch XK For price, see current catalogue Commission Electrotechnique Internationale International Electrotechnical Commission Copyright International Electrotechnical
12、Commission Provided by IHS under license with IECLicensee=IHS Employees/1111111001, User=listmgr, listmgr Not for Resale, 03/06/2007 01:00:48 MSTNo reproduction or networking permitted without license from IHS -,-,- 2 PAS 62407 IEC:2005(E) CONTENTS FOREWORD.18 1 Introduction 20 2 Scope 20 3 Normativ
13、e References 20 4 Terms, Definitions and Abbreviations 21 4.1 IEC 61158 definitions.21 4.2 Definitions from other standards 24 4.3 EtherCAT Definitions .24 4.4 Abbreviations 26 5 Technology Overview .28 5.1 Operating principle 28 5.2 Topology .28 5.2.1 Telegram processing principles 28 5.3 Data Link
14、 Layer overview.29 5.4 Error Detection Overview.30 5.5 Parameter and Process Data Handling Introduction30 5.6 Node Reference Model 30 5.6.1 Mapping onto OSI basic reference model .30 5.6.2 Physical Layer .31 5.6.3 Data Link Layer31 5.6.4 Application Layer .31 5.7 Data types and encoding rules.32 5.7
15、.1 General description of data types and encoding rules .32 5.7.2 Data type definitions 32 5.7.3 Bit sequences 33 5.7.3.1 Definition of bit sequences.33 5.7.3.2 Transfer syntax for bit sequences.33 5.7.4 Basic data types 34 5.7.4.1 Type Definition 34 5.7.4.2 NIL34 5.7.4.3 Boolean.34 5.7.4.4 Void 34
16、5.7.4.5 Unsigned Integer .34 5.7.4.6 Signed Integer.35 5.7.4.7 Floating-Point Numbers .36 5.7.5 Extended data types 37 5.7.5.1 Octet String .37 5.7.5.2 Visible String .37 6 Contents of Part 2: Physical Layer 38 6.1 Overview.38 6.2 100BASE-TX .38 6.3 100BASE-FX .38 6.4 LVDS 38 7 Contents of Part 3: D
17、ata Link Layer Service definition .39 7.1 Overview.39 Copyright International Electrotechnical Commission Provided by IHS under license with IECLicensee=IHS Employees/1111111001, User=listmgr, listmgr Not for Resale, 03/06/2007 01:00:48 MSTNo reproduction or networking permitted without license from
18、 IHS -,-,- PAS 62407 IEC:2005(E) 3 7.1.1 Relation to ISO/IEC8802-3 .39 7.1.2 Frame Structure.39 7.1.3 EtherCAT Modes39 7.1.3.1 Open Mode39 7.1.3.2 Direct Mode.40 7.1.4 Segment represents logical ring .40 7.1.5 Addressing 41 7.1.5.1 Segment addressing 41 7.1.5.2 Device addressing .41 7.1.5.2.1 Positi
19、on addressing 41 7.1.5.2.2 Node addressing.41 7.1.5.3 Logical Addressing 42 7.1.5.3.1 FMMU introduction42 7.1.6 Slave Classification42 7.1.6.1 Full Slave 42 7.1.6.2 Basic Slave .43 7.2 EtherCAT Services 43 7.2.1 Read .43 7.2.1.1 Auto Increment Physical Read (APRD).43 7.2.1.2 Node-Addressed Physical
20、Read (NPRD) 44 7.2.1.3 Logical Read (LRD) .45 7.2.1.4 Broadcast Read (BRD).46 7.2.2 Write .46 7.2.2.1 Auto Increment Physical Write (APWR) 46 7.2.2.2 Node-Addressed Physical Write (NPWR)47 7.2.2.3 Logical Write (LWR).48 7.2.2.4 Broadcast Write (BWR)49 7.2.3 ReadWrite .50 7.2.3.1 Logical ReadWrite (L
21、RW).50 7.2.3.2 Auto Increment Physical Read Multiple Write (ARMW)51 7.3 EtherCAT Attributes.52 7.3.1 Register.53 7.3.1.1 Management53 7.3.1.1.1 DL Information53 7.3.1.1.2 Configured Station Address.53 7.3.1.1.3 DL Control54 7.3.1.1.4 DL Status .54 7.3.1.1.5 AL Management Interface .54 7.3.1.1.5.1 AL
22、 Control.56 7.3.1.1.5.2 AL Status56 7.3.1.1.6 PDI Control.57 7.3.1.1.7 PDI Configuration .57 7.3.1.1.8 AL Event 57 7.3.1.2 Statistics .58 7.3.1.2.1 Channel CRC Fault Counter58 7.3.1.3 Watchdogs 58 7.3.1.3.1 Watchdog Divider .58 7.3.1.3.2 PDI Watchdog 58 7.3.1.3.3 Sync Manager Channel Watchdog.58 Cop
23、yright International Electrotechnical Commission Provided by IHS under license with IECLicensee=IHS Employees/1111111001, User=listmgr, listmgr Not for Resale, 03/06/2007 01:00:48 MSTNo reproduction or networking permitted without license from IHS -,-,- 4 PAS 62407 IEC:2005(E) 7.3.1.3.4 Sync Manager
24、 Watchdog Status58 7.3.1.4 Slave Information Interface 59 7.3.1.4.1 Slave Information Interface Content 59 7.3.1.4.2 Slave Information Interface Size60 7.3.1.4.3 Slave Information Interface Control/Status.60 7.3.1.4.4 Actual Slave Information Interface Address .60 7.3.1.4.5 Actual Slave Information
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