SPRACH6F January 2019 – September 2025 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
ICSS enables devices have support for EtherCAT® subdevice. EtherCAT is supported by ICSS-PRU on part numbers with E or F in the location f of the full part number. The TI EtherCAT subdevice stack in the IND-COMMS-SDK runs on F part numbers. For E part numbers the ETG EtherCAT subdevice stack is available for free for EtherCAT Group (ETG) members, and can be found on the implementation guide. The supported feature set for the TI EtherCAT subdevice stack 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 is stored in a queue. Mailbox services can be processed in parallel. | Yes |
| AoE | ADS over EtherCAT service support. |
Yes |
| 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. |
No |
| 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. |
Yes |
| 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 | Free run | 31.25µs |
| DC mode | 50µs | |
| Distributed Clocks | Accuracy | 64-bit |
| SYNC0 | Generation single shot and cyclic mode support | |
| SYNC1 | SYNC1 cycle time multiple of SYNC0 cycle time |