EtherCAT系统搭建与测试指导(采用Beckhoff 公司的测试套件)EtherCAT系统搭建与测试指导(采用Beckhoff 公司的测试套件).docx

EtherCAT系统搭建与测试指导(采用 Beckhoff 公司的 TC9910-B112 测试套件)Version 0.1Date: 2010-10-09版权申明　　Trademarks　　Beckhoff?, TwinCAT?, EtherCAT?,Safety over EtherCAT?, TwinSAFE? andXFC? are registeredtrademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication maybe trademarks whose use by third parties for their own purposes could violate the rights of the owners.　　Patent Pending　　The EtherCAT Technology is covered, including but not limited to the following German patent applicationsand patents: D DE102004044764, DE102005009224, DE102007017835 with correspondingapplications or registrations in various other countries.　　Disclaimer　　The documentation has been prepared with care. The products described are, however, constantly underdevelopment. For that reason the documentation is not in every case checked for consistency withperformance data, standards or other characteristics. In the event that it contains technical or editorial errors,　　we retain the right to make alterations at any time and without warning. No claims for the modification ofproducts that have already been supplied may be made on the basis of the data, diagrams and descriptions inthis documentation.　　Copyright　　? Beckhoff Automation GmbH 05/2009.　　The reproduction, distribution and utilization of this document as well as the communication of its contents toothers without express authorization are prohibited. Offenders will be held liable for the payment of damages.　　All rights reserved in the event of the grant of a patent, utility model or design.　　1 EtherCAT 协议介绍EtherCAT 是德国倍福(Beckhoff)公司提出的开放式实时以太网，由独立的技术小组ETG(EtherCAT Technology Group)负责管理和推广。它具有高速、高有效数据率的特点，支持几乎所有的拓扑结构。从站使用专用的从站控制芯片，如ESC10和ESC20等。主站为PC时使用通用的以太网卡NIC(Network Interface Card)。　　1.1 EtherCAT 拓扑和工作原理EtherCAT 支持几乎所有的拓扑结构：线型、树型或星型结构，可以选用的物理介质有标准以太网电缆 100Base-TX、倍福公司的 E-bus 以及光缆。使用 100Base-TX 电缆时站间距离可到 100 米，而 E-bus 只能保障 10 米的间距。整个网络最多可以连接65535个设备。使用快速以太网的全双工通信技术，使 EtherCAT 成为主从式的环型结构，如图 1.1 所示。图 1.1 Ethe