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

2.2 EtherCAT

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.

Table 2-2 Supported Feature Set
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