IEC PAS 62407:2005

Real-time Ethernet control automation technology (EtherCATTM)

gives an introductory overview on the EtherCAT technology and then specifies "The Data Link Layer services and protocols in addition to those specified in ISO/IEC 8802-3.

General Information

• Status: Replaced
• Publication Date: 23-Jun-2005
• ICS: 25.040.40 - Industrial process measurement and control
• ICS: 35.100.05 - Multilayer applications
• ICS: 35.240.50 - IT applications in industry
• Technical Committee: SC 65C - Industrial networks
• Drafting Committee: WG 9 - TC 65/SC 65C/WG 9
• Current Stage: DELPUB - Deleted Publication
• Completion Date: 14-Dec-2007

Relations

• Replaced By: IEC 61158-3-12:2007 - Industrial communication networks - Fieldbus specifications - Part 3-12: Data-link layer service definition - Type 12 elements
• Effective Date: 05-Sep-2023
• Replaced By: IEC 61158-6-12:2007 - Industrial communication networks - Fieldbus specifications - Part 6-12: Application layer protocol specification - Type 12 elements
• Effective Date: 05-Sep-2023
• Replaced By: IEC 61158-5-12:2007 - Industrial communication networks - Fieldbus specifications - Part 5-12: Application layer service definition - Type 12 elements
• Effective Date: 05-Sep-2023
• Replaced By: IEC 61158-4-12:2007 - Industrial communication networks - Fielbus specifications - Part 4-12: Data-link layer protocol specification - Type 12 elements
• Effective Date: 05-Sep-2023

Standards Content (Sample)

PUBLICLY
IEC
AVAILABLE
PAS 62407
SPECIFICATION
First edition
2005-06
Real-time Ethernet control automation
TM
technology (EtherCAT )
Reference number
IEC/PAS 62407:2005(E)
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 as IEC 60034-1.

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edition numbers 1.0, 1.1 and 1.2 refer, respectively, to the base publication, the

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amendments 1 and 2.
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PUBLICLY
IEC
AVAILABLE
PAS 62407
SPECIFICATION
First edition
2005-06
Real-time Ethernet control automation
TM
technology (EtherCAT )
 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 Varembé, PO Box 131, CH-1211 Geneva 20, Switzerland
Telephone: [phone] Telefax: [phone] E-mail: [e-mail] Web: www.iec.ch
PRICE CODE
Commission Electrotechnique Internationale
XK
International Electrotechnical Commission
Международная Электротехническая Комиссия
For price, see current catalogue

– 2 – PAS 62407 © IEC:2005(E)
CONTENTS
FOREWORD.18

1 Introduction .20

2 Scope .20

3 Normative 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 Layer overview.29
5.4 Error Detection Overview .30
5.5 Parameter and Process Data Handling Introduction.30
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 Layer.31
5.6.4 Application Layer .31
5.7 Data types and encoding rules .32
5.7.1 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 NIL .34
5.7.4.3 Boolean.34

5.7.4.4 Void .34
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: Data Link Layer Service definition .39
7.1 Overview .39

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 Modes.39

7.1.3.1 Open Mode.39

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 Position addressing .41

7.1.5.2.2 Node addressing.41
7.1.5.3 Logical Addressing .42
7.1.5.3.1 FMMU introduction.42
7.1.6 Slave Classification.42
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 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 (LRW).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 Management.53
7.3.1.1.1 DL Information.53
7.3.1.1.2 Configured Station Address.53

7.3.1.1.3 DL Control .54
7.3.1.1.4 DL Status .54
7.3.1.1.5 AL Management Interface .54
7.3.1.1.5.1 AL Control.56
7.3.1.1.5.2 AL Status.56
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 Counter.58
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

– 4 – PAS 62407 © IEC:2005(E)
7.3.1.3.4 Sync Manager Watchdog Status.58

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 Size.60

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 Interface Data.61

7.3.1.5 Fieldbus Memory Management Unit (FMMU) .61

7.3.1.6 Sync Manager .62

7.3.1.7 Distributed Clock .63

7.3.2 Application Memory.64
7.3.2.1 Queued Access Type.64
7.3.2.1.1 Write Access from Master .64
7.3.2.1.2 Read Access from Master .66
7.3.2.2 Buffered Access Type .68
7.3.2.2.1 Write Access from Master .68
7.3.2.2.2 Read Access from Master .69
8 Contents of Part 4: Data Link Layer Protocol definition .70
8.1 Frame Structure .70
8.1.1 EtherCAT telegra
...