IEC PAS 62407:2005

PUBLICLY
IEC
AVAILABLE
PAS 62407
SPECIFICATION
First edition
2005-06
Real-time Ethernet control automation
TM
technology (EtherCAT )
Reference number
IEC/PAS 62407:2005(E)
Publication numbering
As from 1 January 1997 all IEC publications are issued with a designation in the

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PUBLICLY
IEC
AVAILABLE
PAS 62407
SPECIFICATION
First edition
2005-06
Real-time Ethernet control automation
TM
technology (EtherCAT )
 IEC 2005  Copyright - all rights reserved
No part of this publication may be reproduced or utilized in any form or by any means, electronic or
mechanical, including photocopying and microfilm, without permission in writing from the publisher.
International Electrotechnical Commission, 3, rue de Varembé, PO Box 131, CH-1211 Geneva 20, Switzerland
Telephone: +41 22 919 02 11 Telefax: +41 22 919 03 00 E-mail: inmail@iec.ch Web: www.iec.ch
PRICE CODE
Commission Electrotechnique Internationale
XK
International Electrotechnical Commission
Международная Электротехническая Комиссия
For price, see current catalogue

– 2 – PAS 62407 © IEC:2005(E)
CONTENTS
FOREWORD.18

1 Introduction .20

2 Scope .20

3 Normative References .20

4 Terms, Definitions and Abbreviations .21

4.1 IEC 61158 definitions.21

4.2 Definitions from other standards .24
4.3 EtherCAT Definitions .24
4.4 Abbreviations .26
5 Technology Overview .28
5.1 Operating principle .28
5.2 Topology .28
5.2.1 Telegram processing principles .28
5.3 Data Link Layer overview.29
5.4 Error Detection Overview .30
5.5 Parameter and Process Data Handling Introduction.30
5.6 Node Reference Model .30
5.6.1 Mapping onto OSI basic reference model .30
5.6.2 Physical Layer .31
5.6.3 Data Link Layer.31
5.6.4 Application Layer .31
5.7 Data types and encoding rules .32
5.7.1 General description of data types and encoding rules .32
5.7.2 Data type definitions .32
5.7.3 Bit sequences .33
5.7.3.1 Definition of bit sequences .33
5.7.3.2 Transfer syntax for bit sequences.33
5.7.4 Basic data types .34
5.7.4.1 Type Definition .34
5.7.4.2 NIL .34
5.7.4.3 Boolean.34

5.7.4.4 Void .34
5.7.4.5 Unsigned Integer .34
5.7.4.6 Signed Integer .35
5.7.4.7 Floating-Point Numbers .36
5.7.5 Extended data types .37
5.7.5.1 Octet String .37
5.7.5.2 Visible String .37
6 Contents of Part 2: Physical Layer .38
6.1 Overview .38
6.2 100BASE-TX .38
6.3 100BASE-FX .38
6.4 LVDS .38
7 Contents of Part 3: Data Link Layer Service definition .39
7.1 Overview .39

PAS 62407 © IEC:2005(E) – 3 –
7.1.1 Relation to ISO/IEC8802-3 .39

7.1.2 Frame Structure.39

7.1.3 EtherCAT Modes.39

7.1.3.1 Open Mode.39

7.1.3.2 Direct Mode.40

7.1.4 Segment represents logical ring .40

7.1.5 Addressing .41

7.1.5.1 Segment addressing .41

7.1.5.2 Device addressing .41

7.1.5.2.1 Position addressing .41

7.1.5.2.2 Node addressing.41
7.1.5.3 Logical Addressing .42
7.1.5.3.1 FMMU introduction.42
7.1.6 Slave Classification.42
7.1.6.1 Full Slave .42
7.1.6.2 Basic Slave .43
7.2 EtherCAT Services .43
7.2.1 Read .43
7.2.1.1 Auto Increment Physical Read (APRD).43
7.2.1.2 Node-Addressed Physical Read (NPRD) .44
7.2.1.3 Logical Read (LRD) .45
7.2.1.4 Broadcast Read (BRD).46
7.2.2 Write .46
7.2.2.1 Auto Increment Physical Write (APWR) .46
7.2.2.2 Node-Addressed Physical Write (NPWR).47
7.2.2.3 Logical Write (LWR).48
7.2.2.4 Broadcast Write (BWR) .49
7.2.3 ReadWrite .50
7.2.3.1 Logical ReadWrite (LRW).50
7.2.3.2 Auto Increment Physical Read Multiple Write (ARMW).51
7.3 EtherCAT Attributes.52
7.3.1 Register.53
7.3.1.1 Management.53
7.3.1.1.1 DL Information.53
7.3.1.1.2 Configured Station Address.53

7.3.1.1.3 DL Control .54
7.3.1.1.4 DL Status .54
7.3.1.1.5 AL Management Interface .54
7.3.1.1.5.1 AL Control.56
7.3.1.1.5.2 AL Status.56
7.3.1.1.6 PDI Control.57
7.3.1.1.7 PDI Configuration .57
7.3.1.1.8 AL Event .57
7.3.1.2 Statistics .58
7.3.1.2.1 Channel CRC Fault Counter.58
7.3.1.3 Watchdogs .58
7.3.1.3.1 Watchdog Divider .58
7.3.1.3.2 PDI Watchdog .58
7.3.1.3.3 Sync Manager Channel Watchdog.58

– 4 – PAS 62407 © IEC:2005(E)
7.3.1.3.4 Sync Manager Watchdog Status.58

7.3.1.4 Slave Information Interface .59

7.3.1.4.1 Slave Information Interface Content .59

7.3.1.4.2 Slave Information Interface Size.60

7.3.1.4.3 Slave Information Interface Control/Status.60

7.3.1.4.4 Actual Slave Information Interface Address .60

7.3.1.4.5 Actual Slave Information Interface Data.61

7.3.1.5 Fieldbus Memory Management Unit (FMMU) .61

7.3.1.6 Sync Manager .62

7.3.1.7 Distributed Clock .63

7.3.2 Application Memory.64
7.3.2.1 Queued Access Type.64
7.3.2.1.1 Write Access from Master .64
7.3.2.1.2 Read Access from Master .66
7.3.2.2 Buffered Access Type .68
7.3.2.2.1 Write Access from Master .68
7.3.2.2.2 Read Access from Master .69
8 Contents of Part 4: Data Link Layer Protocol definition .70
8.1 Frame Structure .70
8.1.1 EtherCAT telegram inside an Ethernet frame .70
8.1.2 EtherCAT frame inside an UDP datagram .71
8.1.3 EtherCAT telegram structure .71
8.1.3.1 Read .72
8.1.3.1.1 Auto Increment Physical Read (APRD).72
8.1.3.1.2 Node-Addressed Physical Read (NPRD) .72
8.1.3.1.3 Logical Read (LRD) .73
8.1.3.1.4 Broadcast Read (BRD).73
8.1.3.2 Write .74
8.1.3.2.1 Auto Increment .74
8.1.3.2.2 Node-Addressed Physical Write (NPWR).74
8.1.3.2.3 Logical Write (LWR).75
8.1.3.2.4 Broadcast Write (BWR) .75
8.1.3.3 ReadWrite .75
8.1.3.3.1 Logical ReadWrite (LRW).75
8.1.3.3.2 Auto Increment Physical Read Multiple Write

(ARMW) .76
8.2 EtherCAT Attributes.77
8.2.1 Register.77
8.2.1.1 Management.77
8.2.1.1.1 DL Information.77
8.2.1.1.1.1 Coding .77
8.2.1.1.1.2 Description.77
8.2.1.1.2 Configured Station Address.77
8.2.1.1.2.1 Coding .77
8.2.1.1.2.2 Description.77
8.2.1.1.3 DL Control .78
8.2.1.1.3.1 Coding .78
8.2.1.1.3.2 Description.78
8.2.1.1.4 DL Status .78

PAS 62407 © IEC:2005(E) – 5 –
8.2.1.1.4.1 Coding .78

8.2.1.1.4.2 Description.79

8.2.1.1.5 AL Management Interface .79

8.2.1.1.5.1 AL Control.79

8.2.1.1.5.2 AL Status.80

8.2.1.1.6 PDI Control.81

8.2.1.1.6.1 Coding .81

8.2.1.1.6.2 Description.81

8.2.1.1.7 PDI Configuration .81

8.2.1.1.7.1 8 Bit Micro Controller Interface .81

8.2.1.1.7.2 16 Bit Micro Controller Interface .82
8.2.1.1.8 AL Event .83
8.2.1.1.8.1 Coding .83
8.2.1.1.8.2 Description.83
8.2.1.2 Statistics .85
8.2.1.2.1 Channel CRC Fault Counter.85
8.2.1.2.1.1 Coding .85
8.2.1.2.1.2 Description.85
8.2.1.3 Watchdogs .85
8.2.1.3.1 Watchdog Divider .85
8.2.1.3.1.1 Coding .85
8.2.1.3.1.2 Description.85
8.2.1.3.2 PDI Watchdog .85
8.2.1.3.2.1 Coding .85
8.2.1.3.2.2 Description.85
8.2.1.3.3 Sync Manager Channel Watchdog.86
8.2.1.3.3.1 Coding .86
8.2.1.3.3.2 Description.86
8.2.1.3.4 Sync Manager Watchdog Status.87
8.2.1.3.4.1 Coding .87
8.2.1.3.4.2 Description.87
8.2.1.4 Slave Information Interface .88
8.2.1.4.1 Slave Information Interface Access Flow Charts .88
8.2.1.4.1.1 Read Operation.88
8.2.1.4.1.2 Write Operation.89

8.2.1.4.1.3 Reload Operation .90
8.2.1.4.2 Slave Information Interface Area .90
8.2.1.4.2.1 Slave Information Interface Size .91
8.2.1.4.2.2 Slave Information Interface
Control/Status .92
8.2.1.4.2.3 Actual Slave Information Interface
Address .93
8.2.1.4.2.4 Actual Slave Information Interface
Data .93
8.2.1.5 Fieldbus Memory Management Unit (FMMU) .94
8.2.1.5.1 Coding.94
8.2.1.5.2 Description .94
8.2.1.6 Sync Manager .95
8.2.1.6.1 Coding.95

– 6 – PAS 62407 © IEC:2005(E)
8.2.1.6.2 Description .95

8.2.1.7 Distributed Clock .97

8.2.1.7.1 Coding.97

8.2.1.7.2 Description .98

8.2.2 Application Memory.100

8.2.2.1 Queued Access Type Flow Charts.100

8.2.2.1.1 Write Access from Master (see Figures 22 and

23) .100

8.2.2.1.2 Read Access from Master (see Figures 24 and

25) .102

8.2.2.2 Buffered Access Type Flow Charts.104
8.2.2.2.1 Write Access from Master (see Figures 26 and
27) .104
8.2.2.2.2 Read Access from Master (see Figures 28 and
29) .106
9 Contents of Part 5: Application Layer Service definition .108
9.1 Communication Model Overview .108
9.2 Slave.108
9.2.1 Slave AL Classification.108
9.2.2 Simple Slave Device .108
9.2.3 Complex Slave Device .108
9.2.4 Management.109
9.2.4.1 Overview .109
9.2.4.2 EtherCAT States.111
9.2.4.2.1 Init.111
9.2.4.2.2 Pre-Operational .111
9.2.4.2.3 Safe-Operational .111
9.2.4.2.4 Operational.111
9.2.4.2.5 Bootstrap.111
9.2.4.3 EtherCAT State Services .111
9.2.4.3.1 AL Control Sequence .111
9.2.4.3.2 AL State Changed Sequence .113
9.2.4.3.3 AL Control Service.113
9.2.4.3.4 AL State Changed Service .114
9.2.4.3.5 AL State Acknowledge Service.114
9.2.4.4 Local Management services .115

9.2.4.4.1 Start Mailbox Communication.115
9.2.4.4.2 Stop Mailbox Communication .115
9.2.4.4.3 Start Input Update .115
9.2.4.4.4 Stop Input Update.116
9.2.4.4.5 Start Output Update .116
9.2.4.4.6 Stop Output Update .116
9.2.4.4.7 Start Bootstrap Mode .116
9.2.5 Mailbox.117
9.2.5.1 Overview .117
9.2.5.1.1 Communication from Master to Slave .117
9.2.5.1.2 Communication from Slave to Master .117
9.2.5.2 Mailbox Transmission Services .117
9.2.5.2.1 Mailbox Write.119

PAS 62407 © IEC:2005(E) – 7 –
9.2.5.2.2 Mailbox Read.119

9.2.5.3 Mailbox protocols.120

9.2.6 EtherCAT Process Data .121

9.2.6.1 Overview .121

9.2.6.2 Process Output Data.121

9.2.6.3 Process Input Data .122

9.2.7 CANopen over EtherCAT.123

9.2.7.1 Overview .123

9.2.7.2 Object Dictionary .124

9.2.7.2.1 Overview .124

9.2.7.2.2 Data Type Area .124
9.2.7.2.3 CoE Communication Area .125
9.2.7.2.3.1 Device Type.125
9.2.7.2.3.2 Manufacturer Device Name .125
9.2.7.2.3.3 Hardware Version .125
9.2.7.2.3.4 Software Version.125
9.2.7.2.3.5 Identity .125
9.2.7.2.3.6 EtherCAT Fixed Station Address .126
9.2.7.2.3.7 Virtual MAC Address .126
9.2.7.2.3.8 IP Address Info .126
9.2.7.2.3.9 Receive PDO Mapping .126
9.2.7.2.3.10 Transmit PDO Mapping .126
9.2.7.2.3.11 Sync Manager Communication
Type .127
9.2.7.2.3.12 Sync Manager PDO Assignment .127
9.2.7.2.3.13 EtherCAT Physical Memory Access .127
9.2.7.3 SDO Services .127
9.2.7.3.1 Overview .127
9.2.7.3.2 SDO Download .129
9.2.7.3.3 SDO Upload .134
9.2.7.3.4 Abort SDO Transfer .139
9.2.7.4 SDO Information Services.140
9.2.7.4.1 Overview .140
9.2.7.4.2 SDO Information Service.141
9.2.7.4.3 Get OD List .142

9.2.7.4.4 Get Object Description.143
9.2.7.4.5 Get Entry Description.144
9.2.7.5 Process Data.146
9.2.7.5.1 Overview .146
9.2.7.5.2 Process Data Objects (PDO).148
9.2.7.5.3 Sync Manager Channel Objects (SMCO) .148
9.2.7.5.4 PDO transmission via Mailbox.148
9.2.7.5.4.1 RxPDO .149
9.2.7.5.4.2 TxPDO.150
9.2.7.5.4.3 RxPDO Remote Transmission
Request .151
9.2.7.5.4.4 TxPDO Remote Transmission
Request .152
9.2.7.6 Command.153

– 8 – PAS 62407 © IEC:2005(E)
9.2.7.7 Emergency .153

9.2.8 Ethernet over EtherCAT (EoE) .155

9.2.8.1 Overview .155

9.2.8.2 EoE Services.155

9.2.8.3 Initiate Ethernet over EtherCAT.156

9.2.8.4 Ethernet over EtherCAT Fragment .157

9.2.9 File Access over EtherCAT.158

9.2.9.1 Overview .158

9.2.9.2 FoE Services .158

9.2.9.3 FoE Read Sequence .159

9.2.9.3.1 FoE Read with Success .159
9.2.9.3.2 FoE Read with Error .159
9.2.9.4 FoE Write Sequence .160
9.2.9.4.1 FoE Write with Success .160
9.2.9.4.2 FoE Write with Error .160
9.2.9.4.3 FoE Write with Busy.161
9.2.9.5 FoE Read Request .161
9.2.9.6 FoE Write Request.162
9.2.9.7 FoE Data Request .162
9.2.9.8 FoE Ack Request.163
9.2.9.9 FoE Busy Request .163
9.2.9.10 FoE Error Request.164
9.2.9.11 FoE Busy Request .164
9.3 Master.165
9.3.1 Overview .165
9.3.2 Management.165
9.3.2.1 Slave Handler.165
9.3.3 Router .166
10 Contents of Part 6: Application Layer Protocol definition.167
10.1 Management .167
10.1.1 EtherCAT State Services.167
10.1.1.1 AL Control Service.167
10.1.1.1.1 AL Control Request (Indication) .167
10.1.1.1.1.1 Coding .167
10.1.1.1.1.2 Description.167

10.1.1.1.2 AL Control Response (Confirmation) .167
10.1.1.1.2.1 Coding .167
10.1.1.1.2.2 Description.167
10.1.1.2 AL State Changed Service .168
10.1.1.2.1 AL State Changed Request (Indication) .168
10.1.1.2.1.1 Coding .168
10.1.1.2.1.2 Description.168
10.1.1.3 AL State Acknowledge Service.168
10.1.1.3.1 AL State Acknowledge Request (Indication) .168
10.1.1.3.1.1 Coding .168
10.1.1.3.1.2 Description.169
10.1.1.3.2 AL State Response (Confirmation) .169
10.1.1.3.2.1 Coding .169

PAS 62407 © IEC:2005(E) – 9 –
10.1.1.3.2.2 Description.169

10.1.2 EtherCAT State Machine .170

10.1.2.1 Start Mailbox Communication.170

10.1.2.2 Stop Mailbox Communication .171

10.1.2.3 Start Input Update .172

10.1.2.4 Stop Input Update.173

10.1.2.5 Start Output Update.173

10.1.2.6 Stop Output Update .174

10.1.2.7 Acknowledge State Change .174

10.1.3 Slave Handler .175

10.1.3.1 Start Mailbox Communication.175
10.1.3.2 Stop Mailbox Communication .176
10.1.3.3 Start Input Update .177
10.1.3.4 Stop Input Update.178
10.1.3.5 Start Output Update.179
10.1.3.6 Stop Output Update .180
10.1.3.7 Acknowledge State Change .181
10.2 Mailbox .181
10.2.1 General Mailbox Header.181
10.2.1.1 Coding .181
10.2.1.2 Description .181
10.3 CANopen over EtherCAT .182
10.3.1 Coding.182
10.3.2 Description .182
10.3.3 SDO .183
10.3.3.1 Initiate SDO Download Expedited.183
10.3.3.1.1 Initiate SDO Download Expedited Request .183
10.3.3.1.1.1 Coding .183
10.3.3.1.1.2 Description.183
10.3.3.1.2 Initiate SDO Download Expedited Response.185
10.3.3.1.2.1 Coding .185
10.3.3.1.2.2 Description.185
10.3.3.2 Initiate SDO Download Normal.185
10.3.3.2.1 Initiate SDO Download Normal Request .185
10.3.3.2.1.1 Coding .185

10.3.3.2.1.2 Description.186
10.3.3.2.2 Initiate SDO Download Normal Response.186
10.3.3.2.2.1 Coding .186
10.3.3.2.2.2 Description.187
10.3.3.3 Download SDO Segment.187
10.3.3.3.1 Download SDO Segment Request .187
10.3.3.3.1.1 Coding .187
10.3.3.3.1.2 Description.187
10.3.3.3.2 Download SDO Segment Response .188
10.3.3.3.2.1 Coding .188
10.3.3.3.2.2 Description.188
10.3.3.4 Initiate SDO Upload Expedited .189
10.3.3.4.1 Initiate SDO Upload Expedited Request .189
10.3.3.4.1.1 Coding .189

– 10 – PAS 62407 © IEC:2005(E)

10.3.3.4.1.2 Description.189

10.3.3.4.2 Initiate SDO Upload Expedited Response.190

10.3.3.4.2.1 Coding .190

10.3.3.4.2.2 Description.190

10.3.3.5 Initiate SDO Upload Normal .191

10.3.3.5.1 Initiate SDO Upload Normal Request.191

10.3.3.5.1.1 Coding .191

10.3.3.5.1.2 Description.191

10.3.3.5.2 Initiate SDO Upload Normal Response .192

10.3.3.5.2.1 Coding .192

10.3.3.5.2.2 Description.192
10.3.3.6 Upload SDO Segment.193
10.3.3.6.1 Upload SDO Segment Request .193
10.3.3.6.1.1 Coding .193
10.3.3.6.1.2 Description.193
10.3.3.6.2 Upload SDO Segment Response.194
10.3.3.6.2.1 Coding .194
10.3.3.6.2.2 Description.194
10.3.3.7 Abort SDO Transfer .195
10.3.3.7.1 Abort SDO Transfer Request.195
10.3.3.7.1.1 Coding .195
10.3.3.7.1.2 Description.195
10.3.3.7.2 SDO Abort Codes .196
10.3.4 SDO Information .197
10.3.4.1 SDO Information Service.197
10.3.4.1.1 Coding.197
10.3.4.1.2 Description .197
10.3.4.2 Get OD List .198
10.3.4.2.1 Get OD List Request.198
10.3.4.2.1.1 Coding .198
10.3.4.2.1.2 Description.198
10.3.4.2.2 Get OD List Response .198
10.3.4.2.2.1 Coding .198
10.3.4.2.2.2 Description.199
10.3.4.3 Get Object Description.199

10.3.4.3.1 Get Object Description Request .199
10.3.4.3.1.1 Coding .199
10.3.4.3.1.2 Description.199
10.3.4.3.2 Get Object Description Response.200
10.3.4.3.2.1 Coding .200
10.3.4.3.2.2 Description.200
10.3.4.4 Get Entry Description.201
10.3.4.4.1 Get Entry Description Request .201
10.3.4.4.1.1 Coding .201
10.3.4.4.1.2 Description.201
10.3.4.4.2 Get Object Description Response.202
10.3.4.4.2.1 Coding .202
10.3.4.4.2.2 Description.202
10.3.5 Emergency .204

PAS 62407 © IEC:2005(E) – 11 –

10.3.5.1 Emergency Request.204

10.3.5.2 Emergency Error Codes.204

10.3.5.2.1 EtherCAT State Machine Transition Error .205

10.3.5.2.1.1 Error Code .205

10.3.5.2.1.2 Diagnostic Data.205

10.3.6 Process Data .207

10.3.6.1 Process Data Objects (PDO).207

10.3.6.1.1 PDO Mapping .207

10.3.6.2 Sync Manager Channel Objects (SMCO) .208

10.3.6.2.1 Sync Manager PDO Assign .208

10.3.6.3 PDO transmission via Mailbox.209
10.3.6.3.1 RxPDO .209
10.3.6.3.2 TxPDO .209
10.3.6.3.3 RxPDO Remote Transmission Request .209
10.3.6.3.4 TxPDO Remote Transmission Request.210
10.3.7 Command .210
10.3.8 Object Dictionary .212
10.3.8.1 Object Definitions .212
10.3.8.2 Data Type Area .212
10.3.8.3 CoE Communication Area .214
10.3.8.3.1 Device Type .215
10.3.8.3.2 Manufacturer Device Name.215
10.3.8.3.3 Manufacturer Hardware Version.216
10.3.8.3.4 Manufacturer Software Version .216
10.3.8.3.5 Identity Object .216
10.3.8.3.6 EtherCAT Configured Station Address .
...