<s>
EtherCAT	B-Protocol
(	O
Ethernet	O
for	O
Control	O
Automation	O
Technology	O
)	O
is	O
an	O
Ethernet-based	O
fieldbus	O
system	O
invented	O
by	O
Beckhoff	O
Automation	O
.	O
</s>
<s>
The	O
protocol	O
is	O
standardized	O
in	O
IEC	O
61158	O
and	O
is	O
suitable	O
for	O
both	O
hard	O
and	O
soft	O
real-time	B-General_Concept
computing	I-General_Concept
requirements	O
in	O
automation	O
technology	O
.	O
</s>
<s>
The	O
goal	O
during	O
development	O
of	O
EtherCAT	B-Protocol
was	O
to	O
apply	O
Ethernet	O
for	O
automation	O
applications	O
requiring	O
short	O
data	O
update	O
times	O
(	O
also	O
called	O
cycle	O
times	O
;	O
≤	O
100	O
μs	O
)	O
with	O
low	O
communication	O
jitter	O
(	O
for	O
precise	O
synchronization	O
purposes	O
;	O
≤	O
1	O
μs	O
)	O
and	O
reduced	O
hardware	O
costs	O
.	O
</s>
<s>
Typical	O
application	B-Application
fields	O
for	O
EtherCAT	B-Protocol
are	O
machine	O
controls	O
(	O
e.g.	O
</s>
<s>
Alternative	O
technologies	O
for	O
networking	O
in	O
the	O
industrial	O
environment	O
are	O
EtherNet/IP	B-Protocol
,	O
Profinet	B-Protocol
and	O
Profibus	O
.	O
</s>
<s>
With	O
EtherCAT	B-Protocol
,	O
the	O
standard	O
Ethernet	O
packet	O
or	O
frame	B-Protocol
(	O
according	O
to	O
IEEE	O
802.3	O
)	O
is	O
no	O
longer	O
received	O
,	O
interpreted	O
,	O
and	O
copied	O
as	O
process	O
data	O
at	O
every	O
node	O
.	O
</s>
<s>
The	O
EtherCAT	B-Protocol
slave	O
devices	O
read	O
the	O
data	O
addressed	O
to	O
them	O
while	O
the	O
telegram	O
passes	O
through	O
the	O
device	O
,	O
processing	O
data	O
"	O
on	O
the	O
fly	O
"	O
.	O
</s>
<s>
A	O
frame	B-Protocol
is	O
not	O
completely	O
received	O
before	O
being	O
processed	O
;	O
instead	O
processing	O
starts	O
as	O
soon	O
as	O
possible	O
.	O
</s>
<s>
Typically	O
the	O
entire	O
network	B-Application
can	O
be	O
addressed	O
with	O
just	O
one	O
frame	B-Protocol
.	O
</s>
<s>
ISO/OSI	O
Layer	O
EtherCAT	B-Protocol
Hostlayers	O
7	O
.	O
</s>
<s>
Presentation	B-Application
—	O
—	O
5	O
.	O
</s>
<s>
Session	B-Application
—	O
—	O
4	O
.	O
</s>
<s>
Transport	B-Architecture
TCP*	O
—	O
Medialayers	O
3	O
.	O
</s>
<s>
Network	B-Application
IP*	O
—	O
2	O
.	O
</s>
<s>
Physical	B-Application
100BASE-TX	B-Protocol
,	O
100BASE-FX	O
*	O
optional	O
,	O
the	O
TCP/IP	B-Protocol
Stack	I-Protocol
shown	O
is	O
not	O
needed	O
for	O
typical	O
fieldbus	O
devices.EtherCAT	O
master	O
can	O
access	O
all	O
data	O
including	O
name	O
and	O
data	O
types	O
of	O
an	O
EtherCAT	B-Protocol
slave	O
without	O
complex	O
tools.EtherCAT	O
uses	O
Standard	O
Ethernet	O
(	O
IEEE	O
802.3	O
-	O
Ethernet	O
MAC	O
and	O
PHY	O
)	O
without	O
modifications	O
.	O
</s>
<s>
The	O
EtherCAT	B-Protocol
protocol	O
is	O
optimized	O
for	O
process	O
data	O
and	O
is	O
transported	O
directly	O
within	O
the	O
standard	O
IEEE	O
802.3	O
Ethernet	B-Protocol
frame	I-Protocol
using	O
Ethertype	B-Protocol
0x88a4	O
.	O
</s>
<s>
The	O
data	O
sequence	O
is	O
independent	O
of	O
the	O
physical	B-Application
order	O
of	O
the	O
nodes	O
in	O
the	O
network	B-Application
;	O
addressing	O
can	O
be	O
in	O
any	O
order	O
.	O
</s>
<s>
Broadcast	B-Operating_System
,	O
multicast	O
and	O
communication	O
between	O
slaves	O
is	O
possible	O
,	O
but	O
must	O
be	O
initiated	O
by	O
the	O
master	O
device	O
.	O
</s>
<s>
If	O
IP	B-Protocol
routing	B-Protocol
is	O
required	O
,	O
the	O
EtherCAT	B-Protocol
protocol	O
can	O
be	O
inserted	O
into	O
UDP/IP	B-Protocol
datagrams	O
.	O
</s>
<s>
This	O
also	O
enables	O
any	O
control	O
with	O
Ethernet	O
protocol	O
stack	O
to	O
address	O
EtherCAT	B-Protocol
systems	O
.	O
</s>
<s>
Short	O
cycle	O
times	O
can	O
be	O
achieved	O
since	O
the	O
host	O
microprocessors	B-Architecture
in	O
the	O
slave	O
devices	O
are	O
not	O
involved	O
in	O
the	O
processing	O
of	O
the	O
Ethernet	O
packets	O
to	O
transfer	O
the	O
process	O
images	O
.	O
</s>
<s>
Combined	O
with	O
the	O
functional	O
principle	O
this	O
makes	O
EtherCAT	B-Protocol
a	O
high	O
performance	O
distributed	O
I/O	O
system	O
:	O
Process	O
data	O
exchange	O
with	O
1000	O
distributed	O
digital	B-General_Concept
I/O	O
takes	O
about	O
30	O
μs	O
,	O
which	O
is	O
typical	O
for	O
a	O
transfer	O
of	O
125	O
byte	B-Application
over	O
100Mbit/s	O
Ethernet	O
.	O
</s>
<s>
Typical	O
network	B-Application
update	O
rates	O
are	O
1	O
–	O
30kHz	O
,	O
but	O
EtherCAT	B-Protocol
can	O
be	O
used	O
with	O
slower	O
cycle	O
times	O
,	O
too	O
,	O
if	O
the	O
DMA	O
load	O
is	O
too	O
high	O
.	O
</s>
<s>
The	O
bandwidth	O
utilization	O
is	O
maximized	O
,	O
as	O
each	O
node	O
and	O
each	O
data	O
do	O
not	O
require	O
a	O
separate	O
frame	B-Protocol
.	O
</s>
<s>
By	O
using	O
the	O
full-duplex	O
features	O
of	O
100BASE-TX	B-Protocol
,	O
effective	O
data	O
rates	O
of	O
more	O
than	O
100	O
Mbit/s	O
(	O
>	O
90%	O
user	O
data	O
rate	O
of	O
2x100	O
Mbit/s	O
)	O
can	O
be	O
achieved	O
.	O
</s>
<s>
The	O
EtherCAT	B-Protocol
technology	O
principle	O
is	O
scalable	O
and	O
not	O
bound	O
to	O
100	O
Mbit/s	O
.	O
</s>
<s>
Using	O
full-duplex	O
Ethernet	O
physical	B-Application
layers	I-Application
,	O
the	O
EtherCAT	B-Protocol
slave	O
controllers	O
close	O
an	O
open	O
port	B-Protocol
automatically	O
and	O
return	O
the	O
Ethernet	B-Protocol
frame	I-Protocol
if	O
no	O
downstream	O
device	O
is	O
detected	O
.	O
</s>
<s>
Due	O
to	O
these	O
features	O
EtherCAT	B-Protocol
enables	O
a	O
multitude	O
of	O
network	B-Architecture
topologies	I-Architecture
,	O
including	O
line	O
,	O
tree	O
,	O
ring	O
,	O
star	O
,	O
or	O
any	O
combination	O
thereof	O
.	O
</s>
<s>
Thus	O
the	O
combination	O
of	O
the	O
topology	B-Architecture
variations	O
and	O
different	O
network	B-Application
architectures	O
,	O
e.g.	O
</s>
<s>
Additional	O
switches	B-Device
are	O
not	O
required	O
.	O
</s>
<s>
The	O
physics	O
of	O
Ethernet	O
allow	O
a	O
cable	O
length	O
of	O
up	O
to	O
100m	O
(	O
300ft	O
)	O
between	O
two	O
nodes	O
,	O
so	O
the	O
E-bus	O
(	O
LVDS	B-Architecture
)	O
is	O
only	O
intended	O
for	O
use	O
as	O
the	O
physical	B-Application
layer	I-Application
for	O
modular	O
devices	O
.	O
</s>
<s>
For	O
higher	O
distances	O
,	O
or	O
the	O
complete	O
galvanic	O
isolation	O
between	O
two	O
slaves	O
,	O
fiber	B-Architecture
optic	I-Architecture
cables	O
are	O
used	O
.	O
</s>
<s>
Since	O
a	O
total	O
of	O
65,535	O
nodes	O
per	O
network	B-Application
segment	O
can	O
be	O
connected	O
,	O
the	O
network	B-Application
extension	O
is	O
nearly	O
unlimited	O
.	O
</s>
<s>
For	O
synchronization	O
a	O
distributed	O
clock	O
mechanism	O
is	O
applied	O
,	O
which	O
leads	O
to	O
very	O
low	O
jitter	O
,	O
significantly	O
less	O
than	O
1	O
μs	O
,	O
even	O
if	O
the	O
communication	O
cycle	O
jitters	O
,	O
which	O
is	O
equivalent	O
to	O
the	O
IEEE	B-Protocol
1588	I-Protocol
Precision	B-Protocol
Time	I-Protocol
Protocol	I-Protocol
standard	O
(	O
PTP	O
)	O
.	O
</s>
<s>
Therefore	O
,	O
EtherCAT	B-Protocol
does	O
not	O
require	O
special	O
hardware	O
in	O
the	O
master	O
device	O
and	O
can	O
be	O
implemented	O
in	O
software	O
on	O
any	O
standard	O
Ethernet	O
MAC	O
,	O
even	O
without	O
dedicated	O
communication	O
coprocessor	O
.	O
</s>
<s>
The	O
typical	O
process	O
of	O
establishing	O
a	O
distributed	O
clock	O
is	O
initiated	O
by	O
the	O
master	O
by	O
sending	O
a	O
broadcast	B-Operating_System
to	O
all	O
slaves	O
to	O
a	O
certain	O
address	O
.	O
</s>
<s>
Upon	O
reception	O
of	O
this	O
message	O
,	O
all	O
slaves	O
will	O
latch	B-General_Concept
the	O
value	O
of	O
their	O
internal	O
clock	O
twice	O
,	O
once	O
when	O
the	O
message	O
is	O
received	O
and	O
once	O
when	O
it	O
returns	O
(	O
remember	O
EtherCAT	B-Protocol
has	O
a	O
ring	B-Architecture
topology	I-Architecture
)	O
.	O
</s>
<s>
Finally	O
the	O
master	O
issues	O
a	O
broadcast	B-Operating_System
readwrite	O
on	O
the	O
system	O
clock	O
,	O
which	O
will	O
make	O
the	O
first	O
slave	O
the	O
reference	O
clock	O
and	O
forcing	O
all	O
other	O
slaves	O
to	O
set	O
their	O
internal	O
clock	O
appropriately	O
with	O
the	O
now	O
known	O
offset	O
.	O
</s>
<s>
To	O
keep	O
the	O
clocks	O
synchronised	O
after	O
initialization	O
,	O
the	O
master	O
or	O
slave	O
must	O
regularly	O
send	O
out	O
the	O
broadcast	B-Operating_System
again	O
to	O
counter	O
any	O
effects	O
of	O
speed	O
difference	O
between	O
the	O
internal	O
clocks	O
of	O
each	O
slave	O
.	O
</s>
<s>
The	O
fast	O
,	O
precise	O
detection	O
of	O
disturbances	O
is	O
one	O
of	O
many	O
diagnostic	O
features	O
of	O
EtherCAT	B-Protocol
.	O
</s>
<s>
Besides	O
the	O
error	B-Error_Name
detection	I-Error_Name
and	O
localization	O
protocol	O
,	O
the	O
transmission	O
physics	O
and	O
topology	B-Architecture
of	O
the	O
EtherCAT	B-Protocol
system	O
allow	O
individual	O
quality	O
monitoring	O
of	O
every	O
single	O
transmission	O
path	O
.	O
</s>
<s>
The	O
automated	O
analysis	O
of	O
the	O
according	O
error	O
counters	O
enables	O
the	O
exact	O
localization	O
of	O
critical	O
network	B-Application
segments	O
.	O
</s>
<s>
The	O
device	O
profiles	O
describe	O
the	O
application	B-Application
parameters	O
and	O
functional	O
behavior	O
of	O
the	O
devices	O
,	O
including	O
device-specific	O
state	O
machines	O
.	O
</s>
<s>
Thus	O
,	O
the	O
migration	O
to	O
EtherCAT	B-Protocol
by	O
adjusting	O
the	O
firmware	O
and	O
the	O
hardware	O
is	O
simplified	O
significantly	O
.	O
</s>
<s>
CANopen	O
devices	O
and	O
application	B-Application
profiles	O
are	O
available	O
for	O
an	O
extensive	O
selection	O
of	O
device	O
categories	O
and	O
applications	O
:	O
I/O	O
modules	O
,	O
drives	O
(	O
e.g.	O
,	O
drive	O
profile	O
CiA	O
402	O
standardized	O
as	O
IEC	O
61800-7-201/301	O
)	O
,	O
encoders	O
(	O
CiA	O
406	O
)	O
,	O
proportional	O
valves	O
,	O
hydraulic	O
controllers	O
(	O
CiA	O
408	O
)	O
,	O
or	O
application	B-Application
profiles	O
.	O
</s>
<s>
In	O
this	O
case	O
,	O
EtherCAT	B-Protocol
replaces	O
CAN	O
.	O
</s>
<s>
SERCOS	B-Protocol
interface	I-Protocol
is	O
a	O
real-time	O
communication	O
interface	O
,	O
ideal	O
for	O
motion	O
control	O
applications	O
.	O
</s>
<s>
The	O
SERCOS	B-Protocol
profile	O
for	O
servo	O
drives	O
and	O
communication	O
technology	O
are	O
standardized	O
in	O
IEC	O
61800-7	O
.	O
</s>
<s>
This	O
standard	O
also	O
contains	O
the	O
mapping	O
of	O
the	O
SERCOS	B-Protocol
servo	O
drive	O
profile	O
to	O
EtherCAT	B-Protocol
(	O
IEC	O
61800-7-304	O
)	O
.	O
</s>
<s>
Any	O
Ethernet	O
device	O
can	O
be	O
connected	O
within	O
the	O
EtherCAT	B-Protocol
segment	O
via	O
switch	O
ports	O
.	O
</s>
<s>
The	O
Ethernet	B-Protocol
frames	I-Protocol
are	O
tunneled	B-Protocol
via	O
the	O
EtherCAT	B-Protocol
protocol	O
,	O
as	O
is	O
normal	O
for	O
internet	B-Protocol
protocols	I-Protocol
(	O
e.g.	O
,	O
TCP/IP	B-Protocol
,	O
VPN	B-Application
,	O
PPPoE	B-Protocol
(	O
DSL	O
)	O
,	O
etc	O
.	O
)	O
.	O
</s>
<s>
The	O
EtherCAT	B-Protocol
network	B-Application
is	O
fully	O
transparent	O
for	O
the	O
Ethernet	O
devices	O
,	O
and	O
the	O
real-time	O
features	O
of	O
EtherCAT	B-Protocol
are	O
not	O
disturbed	O
.	O
</s>
<s>
In	O
parallel	O
to	O
the	O
development	O
of	O
EtherCAT	B-Protocol
,	O
a	O
fieldbus-independent	O
safety	O
protocol	O
has	O
been	O
developed	O
.	O
</s>
<s>
For	O
EtherCAT	B-Protocol
,	O
it	O
is	O
available	O
as	O
"	O
Safety	O
over	O
EtherCAT	B-Protocol
"	O
(	O
FSoE	O
=	O
Fail	O
Safe	O
over	O
EtherCAT	B-Protocol
)	O
.	O
</s>
<s>
With	O
FSoE	O
,	O
functional	O
safety	O
with	O
EtherCAT	B-Protocol
can	O
be	O
realized	O
.	O
</s>
<s>
Since	O
2010	O
,	O
Safety	O
over	O
EtherCAT	B-Protocol
is	O
internationally	O
standardized	O
to	O
IEC	O
61784-3-12	O
.	O
</s>
<s>
EtherCAT	B-Protocol
provides	O
a	O
single-channel	O
communication	O
system	O
for	O
transferring	O
safe	O
and	O
non-safe	O
information	O
.	O
</s>
<s>
The	O
transport	B-Architecture
medium	O
is	O
regarded	O
as	O
a	O
black	O
channel	O
,	O
and	O
thus	O
is	O
not	O
included	O
in	O
safety	O
considerations	O
.	O
</s>
<s>
This	O
simple	O
protocol	O
is	O
similar	O
to	O
TFTP	O
(	O
Trivial	O
File	B-Protocol
Transfer	I-Protocol
Protocol	I-Protocol
)	O
;	O
it	O
enables	O
file	O
access	O
in	O
a	O
device	O
and	O
a	O
uniform	O
firmware	O
upload	O
to	O
devices	O
across	O
an	O
EtherCAT	B-Protocol
network	B-Application
.	O
</s>
<s>
A	O
TCP/IP	B-Protocol
stack	I-Protocol
is	O
n’t	O
required	O
.	O
</s>
<s>
Since	O
EtherCAT	B-Protocol
uses	O
standard	O
Ethernet	B-Protocol
frames	I-Protocol
according	O
to	O
IEEE	O
802.3	O
,	O
any	O
standard	O
Ethernet	O
tool	O
can	O
be	O
used	O
to	O
monitor	O
the	O
EtherCAT	B-Protocol
communication	O
.	O
</s>
<s>
Additionally	O
,	O
there	O
is	O
free-of-charge	O
parser	O
software	O
for	O
Wireshark	B-Language
(	O
formerly	O
Ethereal	B-Language
,	O
an	O
open	B-License
source	I-License
monitoring	O
tool	O
)	O
and	O
the	O
Microsoft	O
network	B-Application
monitor	O
,	O
with	O
which	O
recorded	O
EtherCAT	B-Protocol
data	O
traffic	O
can	O
be	O
comfortably	O
prepared	O
and	O
displayed	O
.	O
</s>
<s>
By	O
using	O
gateways	O
,	O
existing	O
networks	O
such	O
as	O
CANopen	O
,	O
DeviceNet	O
,	O
or	O
Profibus	O
,	O
can	O
be	O
integrated	O
into	O
the	O
EtherCAT	B-Protocol
environment	O
seamlessly	O
.	O
</s>
<s>
Furthermore	O
,	O
gateways	O
provide	O
a	O
trip-free	O
migration	O
path	O
from	O
a	O
traditional	O
fieldbus	O
to	O
EtherCAT	B-Protocol
,	O
reducing	O
further	O
investment	O
costs	O
.	O
</s>
<s>
Thanks	O
to	O
the	O
performance	O
of	O
EtherCAT	B-Protocol
,	O
communication	O
with	O
external	O
fieldbus	O
masters	O
is	O
as	O
fast	O
as	O
with	O
traditional	O
cards	O
connected	O
via	O
PCI	B-Protocol
or	O
other	O
backbone	O
buses	O
.	O
</s>
<s>
EtherCAT	B-Protocol
Technology	O
Group	O
(	O
ETG	O
)	O
encourages	O
and	O
expects	O
companies	O
that	O
develop	O
EtherCAT	B-Protocol
products	O
to	O
join	O
ETG	O
,	O
so	O
that	O
they	O
can	O
get	O
an	O
EtherCAT	B-Protocol
Vendor-ID	O
,	O
get	O
access	O
to	O
the	O
full	O
documentation	O
,	O
to	O
the	O
developers	O
forum	O
and	O
to	O
the	O
slave	O
stack	O
code	O
,	O
that	O
Beckhoff	O
provides	O
free	O
of	O
charge	O
to	O
ETG	O
members	O
.	O
</s>
<s>
Different	O
manufacturers	O
provide	O
code	O
for	O
different	O
operating	O
systems	O
,	O
including	O
several	O
open-source	B-License
projects	O
.	O
</s>
<s>
In	O
order	O
to	O
operate	O
a	O
network	B-Application
,	O
the	O
EtherCAT	B-Protocol
master	O
requires	O
the	O
cyclic	O
process	O
data	O
structure	O
as	O
well	O
as	O
boot-up	O
commands	O
for	O
each	O
slave	O
device	O
.	O
</s>
<s>
These	O
commands	O
can	O
be	O
exported	O
to	O
an	O
EtherCAT	B-Protocol
Network	B-Application
Information	O
(	O
ENI	O
)	O
file	O
with	O
the	O
help	O
of	O
an	O
EtherCAT	B-Protocol
configuration	O
tool	O
,	O
which	O
uses	O
the	O
EtherCAT	B-Protocol
Slave	O
Information	O
(	O
ESI	O
)	O
files	O
from	O
the	O
connected	O
devices	O
.	O
</s>
<s>
Contrary	O
to	O
the	O
operation	O
of	O
standard	O
Ethernet	O
,	O
the	O
slaves	O
process	O
the	O
EtherCAT	B-Protocol
frames	O
on	O
the	O
fly	O
.	O
</s>
<s>
This	O
requires	O
the	O
use	O
of	O
hardware-integrated	O
EtherCAT	B-Protocol
Slave	O
Controllers	O
(	O
ESC	O
)	O
in	O
the	O
slaves	O
.	O
</s>
<s>
ESCs	O
are	O
also	O
available	O
as	O
ASICs	O
or	O
based	O
on	O
FPGAs	B-Architecture
.	O
</s>
<s>
Since	O
the	O
beginning	O
of	O
2012	O
,	O
standard	O
microprocessors	B-Architecture
with	O
EtherCAT	B-Protocol
slave	O
interfaces	O
are	O
also	O
available	O
.	O
</s>
<s>
In	O
more	O
complex	O
devices	O
,	O
however	O
,	O
the	O
communication	O
performance	O
of	O
EtherCAT	B-Protocol
is	O
nearly	O
independent	O
of	O
the	O
performance	O
of	O
the	O
used	O
controller	O
.	O
</s>
<s>
Thus	O
the	O
requirements	O
for	O
the	O
microcontroller	O
are	O
determined	O
by	O
the	O
local	O
application	B-Application
,	O
e.g.	O
</s>
<s>
There	O
is	O
a	O
choice	O
of	O
development	O
boards	O
,	O
both	O
from	O
the	O
EtherCAT	B-Protocol
Slave	O
Controller	O
suppliers	O
and	O
from	O
third	O
party	O
vendors	O
.	O
</s>
<s>
There	O
are	O
also	O
open-source	B-License
projects	O
for	O
EtherCAT	B-Protocol
slave	O
device	O
development	O
boards	O
,	O
such	O
as	O
SOES	O
and	O
ArduCAT	O
.	O
</s>
<s>
For	O
the	O
control	O
and	O
regulation	O
of	O
physical	B-Application
processes	O
,	O
high	O
data	O
integrity	O
,	O
data	B-General_Concept
security	I-General_Concept
,	O
and	O
synchronicity	O
is	O
required	O
.	O
</s>
<s>
EtherCAT	B-Protocol
has	O
been	O
designed	O
especially	O
for	O
these	O
kinds	O
of	O
applications	O
and	O
meets	O
all	O
demands	O
for	O
fast	O
controls	O
.	O
</s>
<s>
Due	O
to	O
the	O
advanced	O
protocol	O
features	O
of	O
EtherCAT	B-Protocol
,	O
efficient	O
synchronous	O
data	O
throughput	O
is	O
assured	O
.	O
</s>
<s>
The	O
network	B-Application
features	O
based	O
on	O
Ethernet	O
enable	O
a	O
measurement	O
network	B-Application
with	O
distributed	O
measurement	O
modules	O
.	O
</s>
<s>
The	O
EtherCAT	B-Protocol
Technology	O
Group	O
(	O
ETG	O
)	O
was	O
established	O
in	O
2003	O
,	O
and	O
is	O
the	O
industrial	O
Ethernet	O
user	O
organization	O
with	O
the	O
most	O
members	O
in	O
the	O
world	O
today	O
.	O
</s>
<s>
ETG	O
end	O
users	O
span	O
numerous	O
industries	O
,	O
with	O
machine	O
builders	O
and	O
suppliers	O
of	O
powerful	O
control	O
technology	O
joining	O
forces	O
to	O
support	O
and	O
promote	O
EtherCAT	B-Protocol
technology	O
.	O
</s>
<s>
The	O
variety	O
of	O
industries	O
guarantees	O
optimal	O
preparation	O
of	O
EtherCAT	B-Protocol
for	O
the	O
widest	O
range	O
of	O
applications	O
.	O
</s>
<s>
The	O
EtherCAT	B-Protocol
Conformance	O
Test	O
Tool	O
(	O
CTT	O
)	O
,	O
developed	O
with	O
the	O
assistance	O
of	O
ETG	O
member	O
companies	O
,	O
ensures	O
the	O
interoperability	O
and	O
protocol	O
conformity	O
of	O
EtherCAT	B-Protocol
devices	O
.	O
</s>
<s>
The	O
EtherCAT	B-Protocol
Technology	O
Group	O
(	O
ETG	O
)	O
is	O
an	O
official	O
liaison	O
partner	O
of	O
the	O
IEC	O
(	O
International	O
Electrotechnical	O
Commission	O
)	O
working	O
groups	O
for	O
digital	B-General_Concept
communication	O
.	O
</s>
<s>
The	O
EtherCAT	B-Protocol
specification	O
was	O
published	O
as	O
IEC/PAS	O
62407	O
in	O
2005	O
,	O
which	O
was	O
removed	O
end	O
of	O
2007	O
since	O
EtherCAT	B-Protocol
had	O
been	O
integrated	O
into	O
the	O
international	O
fieldbus	O
standards	O
IEC	O
61158	O
and	O
IEC	O
61784-2	O
as	O
well	O
as	O
into	O
the	O
drive	O
profile	O
standard	O
IEC	O
61800-7	O
.	O
</s>
<s>
In	O
IEC	O
61800-7	O
,	O
EtherCAT	B-Protocol
is	O
a	O
standardized	O
communication	O
technology	O
for	O
the	O
SERCOS	B-Protocol
and	O
CANopen	O
drive	O
profiles	O
(	O
also	O
known	O
as	O
CiA	O
402	O
)	O
.	O
</s>
<s>
EtherCAT	B-Protocol
is	O
also	O
part	O
of	O
ISO	O
15745-4	O
,	O
the	O
standard	O
for	O
XML	B-Protocol
device	O
description	O
.	O
</s>
<s>
Furthermore	O
,	O
SEMI	O
has	O
added	O
EtherCAT	B-Protocol
to	O
its	O
standards	O
portfolio	O
(	O
E54.20	O
)	O
and	O
approved	O
the	O
technology	O
for	O
usage	O
in	O
semiconductor	O
and	O
flat	O
panel	O
display	O
manufacturing	O
equipment	O
.	O
</s>
<s>
In	O
April	O
2010	O
,	O
Edition	O
2	O
of	O
IEC	O
61784-3	O
was	O
accepted	O
,	O
which	O
contains	O
the	O
Safety	O
over	O
EtherCAT	B-Protocol
Protocol	O
.	O
</s>
<s>
In	O
September	O
2008	O
,	O
the	O
EtherCAT	B-Protocol
Installation	O
Profile	O
was	O
submitted	O
to	O
IEC	O
61784-5	O
.	O
</s>
