SPRACH6E January 2019 – May 2024 66AK2G12 , AM2431 , AM2432 , AM2434 , AM3356 , AM3357 , AM3358 , AM3359 , AM4376 , AM4377 , AM4378 , AM4379 , AM5706 , AM5708 , AM5716 , AM5718 , AM5726 , AM5728 , AM5729 , AM5746 , AM5748 , AM5749 , AM6411 , AM6412 , AM6421 , AM6441 , AM6442 , AMIC110 , AMIC120
Sitara AM64x and AM243x families currently have support for EtherCAT® slave. EtherCAT is supported by ICSS-PRU on part numbers with E or F in the location f of the full part number. The EtherCAT stack in MCU+ SDK will run on F part numbers. For E part numbers the EtherCAT slave stack is available for free for EtherCAT Group (ETG) members, and can be found on their website. The supported feature set is summarized in Table 2-2.
Feature | Description | Implementation |
---|---|---|
Distributed Clocks | By using distributed clocks the EtherCAT real-time Ethernet protocol is able to synchronize the time in all local bus devices within a very narrow tolerance range. | Yes |
Object Dictionary | Freely definable, only limited by available resources | Yes |
CiA 402 | This profile standardizes the functional behavior of controllers for servo drives, frequency inverters, and stepper motors. | Yes |
Mailbox Queue | Mailbox services will be stored in a queue. Mailbox services can be processed in parallel. | Yes |
AoE | ADS over EtherCAT service support. | No |
CoE | CANopen over EtherCAT service support. | Yes |
Complete Access support | Accessing all entries of an object with one SDO service is supported. | Yes |
Segmented SDO support | Segmented SDO service is supported. | Yes |
SDO Response Interface | If a SDO response cannot be generated immediately, return ABORTIDX_WORKING. | Yes |
Diagnosis support | Diagnosis messages are supported. | Yes |
Emergency support | Emergency messages are supported. | Yes |
VoE | Vendor Specific Protocol over EtherCAT service support. | No |
SoE | Sercos over EtherCAT service support. | Yes |
EoE | Ethernet over EtherCAT service support. | Yes |
FoE | File access over EtherCAT service support. | Yes |
OP State requires process data | Transition from SafeOP to OP State requires process data. | Yes |
Explicit device ID | Explicit device ID requests are handled. | No |
Error Counters | RX Invalid Frame Counter Port 0/1 | Yes |
RX ERR Counter Port 0/1 | Yes | |
Forwarded Error Counter Port 0/1 | Yes | |
ECAT Processing Unit Error Counter | Yes | |
Fieldbus Memory Management Units (FMMU) | Convert logical addresses into physical addresses by means of internal address mapping | 4 |
SYNC Manager | Insure consistent and secure data exchange between EtherCAT master and local application of slave device | 4 |
EtherCat Commands | NOP, APRD, APWR, APRW, FPRD, FPWR, FPRW, BRD, BWR, BRW, LRD, LWR, LRW, ARMW and FRMW | All supported |
Processdata | Maximum Input | 1024 Bytes |
Maximum Output | 1024 Bytes | |
Cycle time | ||
Cycle Time | Free run | 31.25 µs |
DC mode | 100 µs | |
Distributed Clocks | Accuracy | 64-bit |
SYNC0 | Generation single shot and cyclic mode support | |
SYNC1 | SYNC1 cycle time multiple of SYNC0 cycle time |