SPRACH6D January   2019  – September 2021 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

 

  1.   Trademarks
  2. 1Introduction
  3. 2Communication Protocols
    1. 2.1 PROFINET
    2. 2.2 EtherCAT
    3. 2.3 EtherNet/IP
    4. 2.4 IO-Link
    5. 2.5 Simple Open Real-Time Ethernet (SORTE)
    6. 2.6 Parallel Redundancy Protocol (PRP)
    7. 2.7 High-Availability Seamless Redundancy (HSR)
    8. 2.8 OPC UA
    9. 2.9 Modbus TCP/IP
  4. 3Position Encoders
    1. 3.1 EnDat 2.2
    2. 3.2 HIPERFACE DSL
    3. 3.3 Tamagawa
    4. 3.4 BiSS- C
  5. 4Sitara Support for 3rd Party Protocol Stacks
  6.   Revision History

2.1 PROFINET

Sitara AM64x and AM243x families currently have support for PROFINET® RT and IRT device. The supported feature set is summarized in Table 2-1.

Table 2-1 Supported Feature Set
Feature Description Relevant Conformance Class Support
Mandatory Features CC-A
Real Time Cyclic - Class 1 Unsynchronized real time cyclic protocol CC-A,B,C Yes
Real Time Acyclic Real-time acyclic protocol CC-A,B,C Yes
Device diagnostics/Alarms Diagnostics and Maintenance Alarms CC-A,B,C Yes
Device identification (I&M0) Supported mandatory Identification records CC-A,B,C Yes
Neighborhood detection LLDP protocol CC-A,B,C Yes
Port-related network statuses via PROFINET PDEV records CC-A,B,C Yes
Optional Features CC-A

Extended Identification & Maintenance

 Supported extended I&M records CC-A,B,C I&M1, 2, 3, 4
Shared Input Multiple access to inputs by various controllers CC-A,B,C

In planning
Shared device Distribution of device functions to various controllers CC-A,B,C

In planning

Slave-to-slave communication

Direct communication between IO-Devices

 CC-A,B,C

No
Mandatory Features CC-B
Network diagnostics SNMP protocol CC-B,C Yes
Optional Features CC-B
Name assignment via DCP, PDEV Automatic addressing of devices after device replacement CC-B,C Yes
Configuration in Run (CiR) Configuration changes during operation CC-B,C

In planning
Time sync Time stamping of I/O data CC-B,C Yes
Fibre-optic cable Support Fiber-optic cable diagnostics for POF/HCS CC-B,C

No
Fast Start-Up Fast start-up after voltage recovery for switching operations CC-B

In planning
Media redundancy protocol Higher availability through ring redundancy CC-B

In planning
System redundancy

(Mandatory only for PA)

 System redundancy with two I/O Controllers

CC-B

 In planning
Mandatory Features CC-C
PROFINET with IRT Bandwidth reservation with update rates of 250 us and higher CC-C Yes
PROFINET with IRT Isochronous operation CC-C Yes
Update rates less than 250 us CC-C

No
DFP Optimized IRT mode for line topologies CC-C No
Two-way transmission, MRPD Higher availability through harmonious redundancy switchover CC-C No