FOREWORD
1 Introduction
2 Scope
3 Normative References
4 Terms, Definitions and Abbreviations
4.1 IEC 61158 definitions
4.2 Definitions from other standards
4.3 EtherCAT Definitions
4.4 Abbreviations
5 Technology Overview
5.1 Operating principle
5.2 Topology
5.2.1 Telegram processing principles
5.3 Data Link Layer overview
5.4 Error Detection Overview
5.5 Parameter and Process Data Handling Introduction
5.6 Node Reference Model
5.6.1 Mapping onto OSI basic reference model
5.6.2 Physical Layer
5.6.3 Data Link Layer
5.6.4 Application Layer
5.7 Data types and encoding rules
5.7.1 General description of data types and encoding
rules
5.7.2 Data type definitions
5.7.3 Bit sequences
5.7.4 Basic data types
5.7.5 Extended data types
6 Contents of Part 2: Physical Layer
6.1 Overview
6.2 100BASE-TX
6.3 100BASE-FX
6.4 LVDS
7 Contents of Part 3: Data Link Layer Service definition
7.1 Overview
7.1.1 Relation to ISO/IEC8802-3
7.1.2 Frame Structure
7.1.3 EtherCAT Modes
7.1.4 Segment represents logical ring
7.1.5 Addressing
7.1.6 Slave Classification
7.2 EtherCAT Services
7.2.1 Read
7.2.2 Write
7.2.3 ReadWrite
7.3 EtherCAT Attributes
7.3.1 Register
7.3.2 Application Memory
8 Contents of Part 4: Data Link Layer Protocol definition
8.1 Frame Structure
8.1.1 EtherCAT telegram inside an Ethernet frame
8.1.2 EtherCAT frame inside an UDP datagram
8.1.3 EtherCAT telegram structure
8.2 EtherCAT Attributes
8.2.1 Register
8.2.2 Application Memory
9 Contents of Part 5: Application Layer Service definition
9.1 Communication Model Overview
9.2 Slave
9.2.1 Slave AL Classification
9.2.2 Simple Slave Device
9.2.3 Complex Slave Device
9.2.4 Management
9.2.5 Mailbox
9.2.6 EtherCAT Process Data
9.2.7 CANopen over EtherCAT
9.2.8 Ethernet over EtherCAT (EoE)
9.2.9 File Access over EtherCAT
9.3 Master
9.3.1 Overview
9.3.2 Management
9.3.3 Router
10 Contents of Part 6: Application Layer Protocol definition
10.1 Management
10.1.1 EtherCAT State Services
10.1.2 EtherCAT State Machine
10.1.3 Slave Handler
10.2 Mailbox
10.2.1 General Mailbox Header
10.3 CANopen over EtherCAT
10.3.1 Coding
10.3.2 Description
10.3.3 SDO
10.3.4 SDO Information
10.3.5 Emergency
10.3.6 Process Data
10.3.7 Command
10.3.8 Object Dictionary
10.4 Ethernet over EtherCAT
10.4.1 Initiate EoE Request
10.4.2 EoE Fragment Request
10.5 File Access over EtherCAT
10.5.1 Read Request
10.5.2 Write Request
10.5.3 Data Request
10.5.4 Ack Request
10.5.5 Error Request
10.5.6 Busy Request