Transcript
BECKHOFF New Automation Technology
EtherCAT | Development Products
EtherCAT – Ultra high-speed for automation
Highlights – – – –
Ethernet up to the terminal – complete continuity Ethernet process interface scalable from 1 bit to 64 kbyte first true Ethernet solution for the field level exact timing and adapted to synchronisation
Performance – – – – –
256 digital I/Os in 12 µs 1,000 digital I/Os in 30 µs 200 analog I/Os (16 bit) in 50 µs, corresponding to 20 kHz sampling rate 100 servo axes every 100 µs 12,000 digital I/Os in 350 µs
Protocol – – – – – – –
optimised protocol directly within the Ethernet frame fully hardware-implemented for routing and socket interface: UDP datagram processing while passing distributed clock for accurate synchronisation time stamp data types for resolution in the nanosecond range oversampling data types for high-resolution measurements
Diagnostics – – –
breaking point detection continuous “quality of line” measurement enables accurate localisation of transmission faults Topology View
Topology Interfaces – – – – – –
–
line, tree or star topology up to 65,535 devices within one network network size: almost unlimited (> 500 km) operation with or without switches cost-effective cabling: Industrial Ethernet patch cable (CAT5) twisted pair physical layer: – Ethernet 100BASE-TX, up to 100 m between 2 devices – or: fibre-optic cable variants, up to 20 km between 2 slaves hot connect/disconnect of bus segments
Address space – – – –
network-wide process image: 4 Gbyte device process image: 1 bit to 64 kbyte address allocation: freely configurable device address selection: automatically via software
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Openness – – – – – – –
EtherCAT Development Products
Cost benefits – – – – – –
no more network tuning: lower engineering costs hard real-time with software master: no plug-in cards required no active infrastructure components (switches, etc.) required Ethernet cable and connector costs lower than for traditional fieldbuses EtherCAT right down to the I/O terminal: no complex Bus Couplers required low interface costs due to highly integrated EtherCAT Slave Controller
switch port terminal for standard Ethernet devices fieldbus terminals for fieldbus devices decentralised serial interfaces communication gateways gateway to other EtherCAT systems
fully Ethernet-compatible operation with switches and routers possible, but not required mixed operation with other protocols also possible internet technologies (Web server, FTP, etc.) compatible with the existing Bus Terminal range protocol is published completely EtherCAT is IEC, ISO and SEMI standard.
EtherCAT Technology Group – – – – –
international pool of companies includes users and manufactures supports technology development ensures interoperability integration and development of device profiles
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BECKHOFF New Automation Technology
We reserve the right to make technical changes.
Ethernet for Control and Automation Technology
Principle of operation There are many different approaches that try to provide real-time capability for Ethernet: for example, the CSMA/CD access procedure is disabled via higher level protocol layers and replaced by time slicing or polling. Other propositions use special switches that distribute Ethernet telegrams in a precisely controlled timely manner. While these solutions are able to transport
data packets more or less quickly and accurately to the connected Ethernet node, bandwidth utilisation is very poor, particularly for typical automation devices, since even for very small data quantities a complete Ethernet frame has to be sent. Moreover, the times required for the redirection to the outputs or drive controllers and for reading the input data strongly depend on the implementation. A sub-bus is usually also required, particularly in modular I/O systems, which, like the Beckhoff K-bus, may be synchronised and fast, but nevertheless always adds small delays to the communication that cannot be avoided. With EtherCAT technology, Beckhoff overcomes these system limitations of other Ethernet solutions: the process no longer involves consecutive steps for receiving and interpreting telegrams and copying the process data. In each device (down to the I/O terminals) the EtherCAT Slave Controller reads the data relevant for the device while the frame passes through it. Similarly, input data is inserted into the data stream on the fly. While the frames (delayed by only a few bit times) are already passed on, the slave recognises relevant commands and executes them accordingly. The process is hardware-implemented in the slave controller and is, therefore, independent of the protocol stack software run-times or the processor power. The last EtherCAT slave in the segment returns the fully processed frame,
so that the first slave device forwards it to the master as a kind of response telegram. From an Ethernet point of view, an EtherCAT bus segment is simply a single large Ethernet device that receives and sends Ethernet frames. However, the “device“ does not contain a single Ethernet controller with downstream microprocessor, but a large number of EtherCAT slaves. Like for any other Ethernet device, direct communication may be established without a switch, thereby creating a pure EtherCAT system. Ethernet down to the terminal The Ethernet protocol remains intact right down to the individual devices, i.e. down to the individual I/O terminals; no sub-bus is required. Only the physical layer is converted in the coupler from 100BASE-TX or -FX to E-bus, in order to meet the requirements of the electronic terminal block. The E-bus signal type (LVDS) within the terminal block is nothing proprietary, it is also used for 10 Gbit Ethernet. At the end of the terminal block, the physical bus characteristics are converted back to the 100BASE-TX standard. The on-board Ethernet MAC is sufficient as hardware in the master device. DMA (direct memory access) is used for data transfer to the main memory. That means that the network data access burden is lifted from the CPU. The same principle is also used in the Beckhoff multiport cards, which bundle up to four Ethernet channels on one PCI slot.
EtherCAT Development Products
Real-time Ethernet: Ultra high-speed right up to the terminal Outstanding performance, flexible topology and simple configuration characterise EtherCAT (Ethernet for Control Automation Technology), the real-time Ethernet technology from Beckhoff. EtherCAT sets new standards where conventional fieldbus systems reach their limits: 1,000 distributed I/Os in 30 µs, almost unlimited network size, and optimum vertical integration thanks to Ethernet and Internet technologies. With EtherCAT, the costly Ethernet star topology can be replaced with a simple line or tree structure – no expensive infrastructure components are required. All types of Ethernet devices can be integrated via a switch or switch port. Where other real-time Ethernet approaches require special master hardware or scanner cards, EtherCAT manages with very cost-effective standard Ethernet interface cards.
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BECKHOFF New Automation Technology
EtherCAT Development Products
Protocol processing completely in hardware | Protocol ASICs flexibly configurable. Process interface from 1 bit to 64 kbyte.
Protocol The EtherCAT protocol is optimised for process data and is either transported directly in the Ethernet frame or packed into UDP/IP datagrams. The UDP version is used in situations where EtherCAT segments in other subnets are addressed via routers. Ethernet frames may contain several EtherCAT telegrams, with each telegram serving a particular memory area of the logical process image with an addressable size of up to 4 GB. The data sequence is independent of the physical order of the EtherCAT Terminals in the network; addressing can be in any order. Broadcast, Multicast and communication between slaves are possible. The protocol can also handle parameter communication, which typically is acyclical. The structure and meaning of the parameters is specified via CANopen device profiles, which are available for a wide range of device classes and applications. EtherCAT also supports the servo profile according to IEC 61800-7-204. Under the name of SERCOS this profile is recognised and popular for Motion Control applications worldwide. In addition to data exchange according to the master/slave principle, EtherCAT is also very suitable for communication between controllers (master/master). Freely addressable network variables for process data and a variety of services for parameterisation, diagnosis, programming and remote control cover a wide range of
requirements. The data interfaces for master/ slave and master/master communication are identical. Performance EtherCAT reaches new dimensions in network performance. The update time for the data from 1,000 distributed inputs/outputs is only 30 µs – including terminal cycle time. Up to 1,486 byte of process data can be exchanged with a single Ethernet frame – this is equivalent to almost 12,000 digital inputs and outputs. The transfer of this data quantity only takes 300 µs. The communication with 100 servo axes takes place every 100 µs. With this cycle time, all axes are provided with set values and control data and report their actual position and status. The distributed clock technique enables the axes to be synchronised with a jitter of significantly less than 1 microsecond. The extremely high performance of the EtherCAT technology enables control concepts that could not be realised with classic fieldbus systems. Very fast control loops can thus also be closed via the bus. Functions that previously required dedicated local hardware support can now be mapped in software. The tremendous bandwidth enables status information to be transferred with each data item. With EtherCAT, a communication technology is available that matches the superior computing capacity of modern Industrial PCs. The bus system is no longer
From the master To the master
FMMU: telegram processing completely in hardware
the “bottleneck” of the control concept. Distributed I/Os are recorded faster than is possible with most local I/O interfaces. The benefits of this network performance also become apparent in smaller controllers with comparatively moderate computing capacity. The EtherCAT cycle is so fast that it can be executed between two control cycles. The controller thus always has the latest input data available; the outputs are addressed with minimum delay. The response behaviour of the controller is improved significantly without increasing the computing capacity itself. The EtherCAT technology principle is scalable and not bound to the baud rate of 100 Mbaud – extension to Gbit Ethernet is possible.
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IPC
Freedom in the choice of topology | Maximum flexibility for wiring: with or without switch, line or tree topologies can be freely selected and combined. Address assignment is automatic; no IP address setting is required.
Topology Line, tree or star: EtherCAT supports almost any topology. The bus or line structure known from the fieldbuses thus also becomes available for Ethernet. Particularly useful for system wiring is the combination of lines and branches or stubs. The required interfaces exist on the couplers; no additional switches are required. Naturally, the classic switchbased Ethernet star topology can also be used.
Wiring flexibility is further maximised through the choice of different cables. Flexible and inexpensive Industrial Ethernet fieldbus cables transfer the signals in Ethernet mode (100BASE-TX) up to a cable length of 100 m between two devices. The complete bandwidth of the Ethernet network – such as different optical fibres and copper cables – can be used in combination with switches or media converters. For each cable distance, the signal variant can be selected individually. Since up to 65,535 devices can be connected, the size of the network is almost unlimited. Distributed clocks Accurate synchronisation is particularly important in cases where spatially distributed processes require simultaneous actions. This may be the case, for example, in applications where several servo axes carry out coordinated movements simultaneously. The most powerful approach for synchronisation is the accurate alignment of distributed clocks. In contrast to fully synchronous communication, where synchronisation quality suffers immediately in the event of a communication fault, distributed aligned clocks have a high degree of tolerance vis-à-vis possible fault-related delays within the communication system. With EtherCAT, the data exchange is fully based on a pure hardware machine. Since the communication utilises a logical (and thanks to full-duplex Fast Ethernet, also physical) ring structure, the
“master clock“ can determine the run-time offset to the individual “slave clocks“ simply and accurately – and vice versa. The distributed clocks are adjusted based on this value, which means that a very precise networkwide timebase with a jitter of significantly less then 1 microsecond is available. However, high-resolution distributed clocks are not only used for synchronisation, but can also provide accurate information about the local timing of the data acquisition. Thanks to new, extended data types, very precise time stamps can be assigned to measured values. Hot Connect Many applications require a change in I/O configuration during operation. Examples are machining centres with changing, sensorequipped tool systems or transfer systems with intelligent, flexible workpiece carriers, or printing machines in which individual printing units are switched off. The protocol structure of the EtherCAT system takes account of these requirements: the Hot Connect function enables parts of the network to be linked and decoupled or reconfigured “on the fly“, offering flexible response capability for changing configurations. High availability Increasing demands in terms of system availability are catered for with optional cable redundancy that enables devices to
EtherCAT Development Products
EtherCAT instead of PCI With increasing miniaturisation of the PC components, the physical size of Industrial PCs is increasingly determined by the number of required slots. The bandwidth of Fast Ethernet, together with the data width of the EtherCAT communication hardware (EtherCAT Slave Controller) opens up new opportunities: interfaces that are conventionally located in the IPC are transferred to intelligent interface terminals at the EtherCAT system. Apart from the decentralised I/Os, axes and control units, complex systems such as fieldbus masters, fast serial interfaces, gateways and other communication interfaces can be addressed via a single Ethernet port in the PC. Even further Ethernet devices without restriction on protocol variants can be connected via decentralised switch port terminals. The central IPC becomes smaller and therefore more cost-effective, one Ethernet interface is sufficient for the complete communication with the periphery.
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BECKHOFF New Automation Technology
Ethernet instead of PCI | Fieldbus devices (PROFIBUS, CANopen, DeviceNet, AS-Interface, etc.) are integrated via decentralised fieldbus master/slave terminals. The removal of the fieldbus master saves PCI slots in the PC.
EtherCAT Development Products
be changed without having to shut down the network. EtherCAT also supports redundant masters with hot standby functionality. Since the EtherCAT Slave Controllers immediately return the frame automatically if an interruption is encountered, failure of a device does not lead to the complete network being shut down. Dragchain applications, for example, can thus be specifically configured as stubs in order to be prepared for cable break. Safety over EtherCAT In the interest of achieving safe data communication with EtherCAT, the Safety over EtherCAT protocol has been created. The protocol meets the requirements of IEC 61508 up to Safety Integrity Level (SIL) 3, as approved by the German Technical Inspection Agency (TÜV). EtherCAT is used as a single-channel communication system. The transport medium is regarded as a “black channel” and is not included in the safety considerations. Thus, the protocol can also be transmitted by other communication systems, backplanes, WLAN, etc. The transfer cycle can be as short as required without affecting residual error probability. The cyclic exchange of safe data between a Safety over EtherCAT master and a Safety over EtherCAT slave is referred to as a connection that is monitored via a watchdog timer. A master can establish and monitor several connections to different slaves.
Diagnostics The diagnostic capability of a network is a crucial factor for availability and commissioning times – and therefore overall costs. Only faults that are detected quickly and accurately and located unambiguously can be rectified quickly. Therefore, special attention was paid to exemplary diagnostic features during the development of EtherCAT. During commissioning, the actual configuration of the I/O terminals should be checked for consistency with the specified configuration. The topology should also match the configuration. Due to the built-in topology recognition down to the individual terminals, the verification can not only take place during system start-up, automatic reading in of the network is also possible (configuration upload). Bit faults during the transfer are reliably detected through evaluation of the CRC checksum in each device. Apart from breaking point detection and localisation, the protocol, transfer physics and topology of the EtherCAT system enable individual quality monitoring of each individual transmission segment. The automatic evaluation of the associated error counters enables precise localisation of critical network sections. Gradual or changing sources of error such as EMC influences, defective connectors or cable damage are detected and located, even if they do not yet overstrain the self-healing capacity of the network.
EtherCAT components On the hardware side, EtherCAT technology is located in EtherCAT Terminals, for example. The I/O system in protection class IP 20 is based on the housing of the tried and tested Beckhoff Bus Terminal system. In contrast to Bus Terminals, where the fieldbus protocol data is converted within the Bus Coupler to the internal, fieldbus-independent terminal bus, the EtherCAT protocol remains fully intact down to the individual terminal. In addition to EtherCAT Terminals with E-bus connection, the proven standard Bus Terminals with K-bus connection can also be connected via the BK1120 EtherCAT Bus Coupler. This ensures compatibility and continuity with the prevalent system. Existing and future investments are protected. EtherCAT is integrated in further Beckhoff components, such as the Fieldbus Box in protection class IP 67. The extension modules can be connected directly via an IL230x-B110 EtherCAT Coupler Box. The EtherCAT Box modules, also in protection class IP 67, feature an integrated EtherCAT interface and can be connected directly to an EtherCAT network without an additional Coupler Box. The Beckhoff Industrial PCs, the Embedded PCs of the CX series, the Control Panels with control functionality, and the Ethernet PCI cards already offer inherent EtherCAT capability. The Beckhoff Servo Drives are also available with EtherCAT interface.
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IPC
Logical process image: up to 4 Gbytes
Ethernet HDR
HDR 1
Data 1
Sub-telegram 1
HDR 2
Data 2
Sub-telegram 2
HDR n
Data n
CRC
Sub-telegram n
Protocol structure | The process image allocation is freely configurable. Data are copied directly in the I/O terminal to the desired location within the process image: no additional mapping is required. Very large address space of 4 Gbytes.
EtherCAT Technology Group The EtherCAT Technology Group (ETG) is an association of automation users and manufacturers with a mission to support the development of EtherCAT technology. The group represents a variety of industry sectors and application areas. This ensures that the EtherCAT technology functions and interfaces are ideally prepared for the widest range of applications. The organisation ensures that EtherCAT can be easily and cost-effectively integrated in all kinds of automation devices, while ensuring interoperability of these implementations. The EtherCAT Technology Group is the official IEC partner organisation for fieldbus standardisation. Membership is open to all companies.
EtherCAT Technology Group Everyone should be able to use and implement EtherCAT – the EtherCAT Technology Group represents this philosophy. The ETG is a forum for end users from different sectors, and for machine manufacturers and suppliers of powerful control technology with the aim of supporting and promoting EtherCAT technology. The wide range of industry sectors that are represented ensures that EtherCAT is optimally prepared for a large number of applications. With their qualified feedback, the system partners ensure simple integration of the hardware and software components in all required device classes. The ETG technical committee meets frequently to review the technology. Working groups look after topics like device profile integration, safety, wiring, standardisation or test and certification. In training classes and seminars the ETG provides detailed information about the technology. The management board of the International Electrotechnical Commission (IEC) approved the liaison of the EtherCAT Technology Group with the IEC committee for
digital communication: The ETG is official standardisation partner organisation. Founded in 2003, the EtherCAT Technology Group grew so fast that it can be considered the world’s largest Industrial Ethernet organisation. With members from all over the world and still growing, the ETG is a strong international community. Member companies receive access to specification drafts, specifications, white papers, tools, evaluation products as well as proceedings of ETG events. In this way, they have a head start in evaluating, using or implementing the EtherCAT technology. The ETG offices answer technical inquiries regarding EtherCAT, provide marketing assistance, publish product guides, issue press releases and articles, promote EtherCAT via its website and organise joint fair and exhibition booths. For further information see www.ethercat.org EtherCAT Development Products
Openness The EtherCAT technology is not only fully Ethernet-compatible, but also characterised by particular openness “by design“: the protocol tolerates other Ethernet-based services and protocols on the same physical network – usually only with minimum loss of performance. Any Ethernet device can be connected within the EtherCAT segment via a switch port terminal without influencing the cycle time. Devices with fieldbus interface are integrated via EtherCAT fieldbus master terminals. The UDP protocol variant can be implemented on each socket interface. EtherCAT is a fully open protocol. It is recognised and available as an official IEC specification (IEC 61158, type 12).
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BECKHOFF New Automation Technology
EL98xx
EL98xx | EtherCAT evaluation kit
EtherCAT Development Products
The evaluation kits serve as platform for the development of EtherCAT slaves. The piggyback controller board supplied with the kit realises the complete EtherCAT connection with the ASIC ET1100 or on FPGA basis. A programming interface is integrated for the FPGAs. All digital I/O, SPI and asynchronous µController process data interfaces (PDIs) are connected to pin strips and can be selected
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Technical data
EL9820
Evaluation kit
base board
EtherCAT Slave Controller
via PDI selector switch. The SPI interface can optionally be connected with a PIC microcontroller included with the kit or directly to the pin strip. A programming and debugging interface for the controller is also provided. The EL98xx can therefore also be used as platform for the ET9300 EtherCAT Slave Sample Code provided with the evaluation kits. The EL9830 and EL9840 EtherCAT evaluation kits are
intended as a hardware platform for the EtherCAT IP core. For this reason, these kits are delivered with a demo version (time-limited binary) of the IP core (16 bit digital I/O).
EL9830
EL9840
ASIC ET1100
Altera FPGA
Xilinx FPGA
EtherCAT piggyback controller
FB1111-0142
(IP core required) FB1122 with Altera
(IP core required) FB1130 with Xilinx
board
with ASIC ET1100
Cyclone III (EP3C25)
Spartan-3E (XC3S1200E)
Software
EtherCAT Slave Sample Code ET9300
Accessories
cables, documentation
Workshop
optionally available as TR8100
Further information
www.beckhoff.com/EL9820
BECKHOFF New Automation Technology
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ET1100, ET1200
ET1100, ET1200 | EtherCAT ASICs clocks that enable high-precision synchronisation (<< 1 µs) of the EtherCAT slaves. The supply voltage is 3.3 V or 5 V; the core voltage of 2.5 V is generated by the integrated in-phase regulator or can be supplied directly. The ET1100 is suitable as a universal solution for all types of EtherCAT devices; the ET1200 is optimised for modular devices using E-bus/ LVDS (Low Voltage Differential Signalling) as internal interface. Due to their compact design and small number of external components, both ASICs only require minimum space on the board. The ET1100 ASIC housing (BGA128) only measures 10 x 10 mm. The chip can
support up to four EtherCAT ports. The 8 kB internal memory (DPRAM) for access to process and parameter data is optionally addressed via parallel or serial data bus. Alternatively, the ASICs can also be used without controller. In this case up to 32 digital signals can be connected directly. The ET1200 ASIC is the “small” variant of the ET1100; with its QFN48 housing measuring only 7 x 7 mm, the chip is even more compact. The device offers 16 digital I/O interfaces and distributed clock hardware for high-precision synchronisation. The 1 kB internal DPRAM is addressed via a fast serial
Technical data
ET1100
ET1200
Number of EtherCAT ports
4 (max. 4 x MII)
3 (max. 1 x MII)
FMMUs
8
3
SYNC manager
8
4
DPRAM
8 kbyte
1 kbyte
Distributed clocks
yes (64 bit)
yes (64 bit)
Process data interfaces
32 bit digital I/O
16 bit digital I/O
SPI
SPI
Housing
8/16 bit µC BGA128, 10 x 10 mm
– QFN48, 7 x 7 mm
Further information
www.beckhoff.com/ET1100
We reserve the right to make technical changes.
interface (20 Mbit/s). The “small ASIC” offers up to three EtherCAT ports, one of which can be used as MII for connecting a standard PHY. The other ports are used for LVDS, which makes the ET1200 the right choice for modular devices using LVDS as internal bus physics.
EtherCAT Development Products
The ET1100 and ET1200 EtherCAT ASICs offer a costeffective and compact solution for realising EtherCAT slaves. They process the EtherCAT protocol in the hardware and therefore ensure high-performance and real-time capability, independent of any downstream slave microcontrollers and associated software. Through their three process data interfaces – digital I/O, SPI and 8/16 bit µC (not for ET1200) – the EtherCAT ASICs enable realisation of simple digital modules without microcontrollers and development of intelligent devices with own processor. Both ASICs feature distributed
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ET1810, ET1811
ET1810, ET1811 | EtherCAT IP core for Altera® FPGAs The ET1811 (Altera®) quantitybased licence offers manufacturers of small lots and development service providers the possibility of entering the world of EtherCAT development with low initial investment. For the development of an EtherCAT device, the ET1811 one-time kick-off charge is required, plus ET1811-1000 royalty for 1,000 devices. The royalties for 1,000 devices must be paid in advance each time. Development service providers only require ET1811 one-time kick-off charge; the ET1811-0030 system integrator OEM licence is required for each customer implementation. The end customer requires the royalty licence (ET1811-1000). The number of required logic elements depends on the chosen configuration:
The EtherCAT IP core enables the EtherCAT communication function and application-specific functions to be implemented on an FPGA (Field Programmable Gate Array – i.e. a device containing programmable logical components). The EtherCAT functionality is freely configurable. The IP core can be combined with own FPGA designs and offers the option of communicating with a soft core processor via the Avalon® interface. The physical interfaces and internal functions, such as the number of FMMUs and SYNC managers, the size of the DPRAM, etc., are adjustable. The process data interface (PDI) and the distributed clocks are also configurable. The functions are compatible with the EtherCAT specification and the EtherCAT ASICs (ET1100, ET1200).
EtherCAT IP core for Altera®: – 2 MII ports, 32 bit digital I/O, 1 kB RAM, without distributed clocks, with FMMU and SYNC manager, has approx. 6,900 logic elements – 3 MII ports, SPI interface, 60 kB RAM, 64 bit distributed clocks, 8 FMMUs and 8 SYNC managers, has approx. 25,500 logic elements
The EtherCAT Altera® IP core can be used with the following FPGAs: Cyclone®, Cyclone® II, Cyclone® III, Cyclone® IV, Stratix®, Stratix® II Stratix® III, Stratix® IV, Stratix® GX, Stratix® II GX, Arria® GX and Arria® II GX.
Configurable features
ET1810, ET1811, ET1812
PHY interface
1…3 ports MII or 1…2 ports RMII
FMMUs
0…8
SYNC manager
0…8
DPRAM
1…60 kbyte
Distributed clocks
2 x SYNC outputs, 2 x latch inputs (32/64 bit)
Process data interfaces
32 bit digital I/O, SPI, 8/16 bit asynchronous µC interface, Avalon interface, 64 bit general purpose I/O
Further information
www.beckhoff.com/ET1810
Ordering information
Description
Node-locked buy out licence ET1810
Node-locked licence for using the EtherCAT IP core on one workstation. The licence includes 1 year maintenance and updates.
ET1810-0010
extension of the node-locked Altera® licence (ET1810) by one additional workstation
ET1810-0020
one-year maintenance extension for node-locked licence (ET1810)
Node-locked quantity-based licence ET1811
one-time kick-off charge for the node-locked quantity-based licence for using the freely configurable
EtherCAT Development Products
EtherCAT IP cores on one workstation; target hardware: selected Altera devices
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ET1811-1000
royalty for 1,000 devices, ET1811 required
ET1811-0020
one-year maintenance extension, ET1811 required
ET1811-0030
system integrator OEM licence
Floating buy out licence ET1812
floating buy out licence for Altera® FPGAs
ET1812-0010
extension of the floating licence (ET1812) by one additional workstation
ET1812-0020
one-year maintenance extension for floating licence (ET1812)
Evaluation licence (Open Core Plus) Full-featured, time-limited version available. Please see www.beckhoff.com/ET1810 for contact.
BECKHOFF New Automation Technology
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ET1815, ET1816
ET1815, ET1816 | EtherCAT IP core for Xilinx® FPGAs The EtherCAT IP core enables the EtherCAT communication function and application-specific functions to be implemented on an FPGA (Field Programmable Gate Array – i.e. a device containing programmable logical components). The EtherCAT functionality is freely configurable. The IP core can be combined with own FPGA designs and offers the option of communicating with a soft core processor via the OPB™ or PLB™ interface. The physical interfaces and internal functions, such as the number of FMMUs and SYNC managers, the size of the DPRAM, etc., are adjustable. The process data interface (PDI) and the distributed clocks are also configurable. The functions are compatible with the EtherCAT specification and the EtherCAT ASICs (ET1100, ET1200). The ET1816 (Xilinx®) quantity-based licence offers manufacturers of small lots and
development service providers the possibility of entering the world of EtherCAT development with low initial investment. For the development of an EtherCAT device, the ET1816 one-time kick-off charge is required, plus ET1816-1000 royalty for 1,000 devices. The royalties for 1,000 devices must be paid in advance each time. Development service providers only require ET1816 one-time kick-off charge; the ET1816-0030 system integrator OEM licence is required for each customer implementation. The end customer requires the royalty licence (ET1816-1000). The number of required logic elements depends on the chosen configuration: EtherCAT IP core for Xilinx®: – 2 MII ports, 32 bit digital I/O, 1 kB RAM, without distributed clocks, with FMMU and SYNC manager, has approx. 4,400 slices (Spartan®-3E)
–
3 MII ports, 16 bit µC interface, 60 kB RAM, 64 bit distributed clocks, 8 FMMUs and 8 SYNC managers, has approx. 14,000 slices (Spartan®-3E) The EtherCAT Xilinx® IP core can be used with the following FPGAs: Spartan®-3, Spartan®-3E, Spartan®-3A, Spartan®-3AN, Spartan®-3ADSP, Spartan®-6, Virtex®-II, Virtex®-II Pro, Virtex®-II Pro X, Virtex®-4, Virtex®-5 and Virtex®-6.
Configurable features
ET1815, ET1816
PHY interface
1…3 ports MII or 1…2 ports RMII
FMMUs
0…8
SYNC manager
0…8
DPRAM
1…60 kbyte
Distributed clocks
2 x SYNC outputs, 2 x latch inputs (32/64 bit)
Process data interfaces
32 bit digital I/O, SPI, 8/16 bit asynchronous µC interface, OPB™ interface, PLB™ v4.6 interface, 64 bit general purpose I/O
Further information
www.beckhoff.com/ET1815
Ordering information
Description
ET1815
EtherCAT IP core licence for Xinlinx FPGAs “node-locked”
ET1815-0010
extension of the node-locked licence (ET1815) by one additional workstation
ET1815-0020
one-year maintenance extension for node-locked licence (ET1815)
Node-locked quantity-based licence ET1816
one-time kick-off charge for the node-locked quantity-based licence for using the freely configurable EtherCAT IP cores on one workstation; target hardware: selected Xilinx devices
ET1816-1000
royalty for 1,000 devices, ET1816 required
ET1816-0020
one-year maintenance extension, ET1816 required
ET1816-0030
system integrator OEM licence
Evaluation licence
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Full-featured, time-limited version available. Please see www.beckhoff.com/ET1815 for contact.
We reserve the right to make technical changes.
EtherCAT Development Products
Node-locked buy out licence
BECKHOFF New Automation Technology
FB11xx
FB1111, FB1122, FB1130 | EtherCAT piggyback controller boards
EtherCAT Development Products
The FB11xx EtherCAT piggyback controller boards offer complete EtherCAT connection based on the ET1100 EtherCAT ASIC or an Altera or Xilinx FPGA in conjunction with the ET18xx EtherCAT IP core. All FB11xx have the same form factor and can be used with the EtherCAT evaluation kit. They can be integrated as EtherCAT interfaces in devices.
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The FB1122 and FB1130 piggyback controller boards are intended as a hardware platform for the EtherCAT IP core. For this reason, these boards are delivered with a demo version (timelimited binary) of the IP core (16 bit digital I/O).
Ordering information FB1111-0140
EtherCAT piggyback controller board with ET1100 and µC interface; can be integrated as EtherCAT interface in devices.
FB1111-0141
EtherCAT piggyback controller board with ET1100 and SPI interface; can be integrated as EtherCAT interface in devices.
FB1111-0142
EtherCAT piggyback controller board with ET1100 and digital I/O interface; can be integrated as EtherCAT interface in devices; included in the EL982x evaluation kit.
FB1122
EtherCAT piggyback controller board with Altera Cyclone III (IP core required)
FB1130
EtherCAT piggyback controller board with Xilinx Spartan-3E (XC3S1200E) (IP core required)
Further information www.beckhoff.com/FB1111
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
FC1100
FC1100 | PCI EtherCAT slave card EtherCAT Slave Sample Code. The FC1100 can therefore also be used for the development of EtherCAT slave software on the PC.
Technical data
FC1100
Fieldbus
EtherCAT (direct mode)
EtherCAT plug
2 x RJ 45, EtherCAT IN/OUT
Data transfer rates
100 Mbit/s
Interface to the PC
PCI 32 bit
EtherCAT Slave Controller
ET1100
Distributed clocks
yes (64 bit)
RAM
8 kbyte
SYNC manager
8
FMMUs
8
Cable length
up to 100 m
Hardware diagnosis
2 LEDs per channel (activity, link)
Dimensions
ca. 65 mm x 125 mm
Operating temperature
0…55 °C
Driver
TwinCAT driver for EtherCAT
Further information
support in the EtherCAT Slave Sample Code ET9300 www.beckhoff.com/FC1100
EtherCAT Development Products
The FC1100 PCI EtherCAT card can be used to integrate a PC as a slave in an EtherCAT network. The card has an EtherCAT channel with two ports (IN/OUT) and is also supported in the ET9300
Ordering information FC1100
We reserve the right to make technical changes.
standard configuration
13
BECKHOFF New Automation Technology
ET2000
ET2000 | Industrial Ethernet multi-channel probe
EtherCAT Development Products
With the ET2000 multi-channel probe Beckhoff introduces a versatile piece of hardware for analysing any Industrial Ethernet solution. With eight ports this device enables unlimited synchronised recording of up to four independent channels at a speed of 10 or 100 Mbit/s. All real-time Ethernet standards such as EtherCAT, PROFINET, etc. and conventional office Ethernet networks are supported. Through its compact and rugged design the ET2000 is ideal both for the local application at machines or in the laboratory.
14
The four channels enable recording and analysis of separate networks or different points within the same network. All frames in transit – in both directions – are furnished with a high-precision time stamp in the probe hardware and copied to the Gbit uplink port. The high time stamp resolution of 1 ns enables very precise timing analysis of the connected network segments. The ET2000 probe is transparent for the connected buses. Thanks to the low cycle delay of < 1 µs the influence on the system is very small.
Technical data
ET2000
Number of ports/channels
8/4
Uplink port
1 Gbit/s
Delay
approx. 1 µs
Resolution time stamp
1 ns (channel 0/1)
Software interface
WinPcap
Data transfer rates
probe ports: 10/100 Mbit/s, uplink port: 1 Gbit/s
Hardware diagnosis
2 LEDs per channel (link/activity, 10/100 Mbit), 1 power LED
Power supply
24 (18…30) V DC, 500 mA, 3-pole terminal (+, -, PE)
Dimensions (W x H x D)
approx. 100 mm x 150 mm x 40 mm
Operating temperature
0…55 °C
Further information
www.beckhoff.com/ET2000
BECKHOFF New Automation Technology
The device can be connected to any Gbit Ethernet interfaces on the PC side. A plug-in for the free Wireshark network monitor enables this network monitor to be used for analysing recordings and high-precision time stamps.
We reserve the right to make technical changes.
FC90xx-00xx
FC9001-0010, FC9011 | PCI Ethernet – –
–
automatic baud rate setting according to IEEE 802.3u maximum performance through hardware-integrated checksum creation and verification The hardware side supports Quality of Service (QoS) through prioritised multiple queues.
– –
Wake on LAN Boot from LAN (PXE) (only FC9011) Naturally, the cards (or individual channels) can also be operated with TwinCAT drivers – and therefore in real-time.
Technical data
FC9001-0010
Fieldbus
all Ethernet (IEEE 802.3) based protocols
FC9011
Number of Ethernet channels
1
Data transfer rates
10/100 Mbit/s, IEEE 802.3u auto-negotiation,
10/100/1,000 Mbit/s, IEEE 802.3ab auto-negotiation, full duplex at 10, 100 and 1,000 Mbit/s
Interface to the PC
full duplex at 10 and 100 Mbit/s plug-and-play PCI interface 32 bit
Ethernet interface
10BASE-T/100BASE-TX Ethernet
10BASE-T/100BASE-TX/1,000BASE-TX Ethernet
Ethernet plug
1 x RJ 45
Cable length
100 m (up to switch or end device)
Standard drivers
standard operating system drivers for Intel®-compatible NIC real-time driver or Beckhoff driver for Windows 2000/XP
Real-time drivers
TwinCAT drivers for EtherCAT/real-time Ethernet. Drivers can be selected separately for each channel.
Hardware diagnosis
2 LEDs per channel (activity, link)
Dimensions
approx. 51 mm x 120 mm
Operating temperature
0…55 °C
Further information
www.beckhoff.com/FC9001
Ordering information
FC9001-0010
FC90xx-00xx
standard configuration
(available from Beckhoff website)
We reserve the right to make technical changes.
FC9011-0000
EtherCAT Development Products
The Ethernet PCI network cards from Beckhoff save space and costs. They can be used in office and automation networks and offer the following benefits: – plug-and-play interface – 10/100/1,000 Mbit/s (FC9011), 10/100 Mbit/s (FC9001-0010), full duplex
15
BECKHOFF New Automation Technology
ET9x00
ET9000, ET9200, ET9300 | EtherCAT development software ET9000 | EtherCAT configurator
Through clear definition of the interfaces in the EtherCAT specification an EtherCAT master can be developed without having to develop a configurator at the
same time. The EtherCAT configurator is aimed at EtherCAT master developers who want to use it or integrate and distribute it with their software package. The Windows software for configuring an EtherCAT network includes: – configurator for: – reading XML device descriptions – generating XML configuration descriptions
Properties – online features – scanning of EtherCAT networks – diagnostics – free-run online mode for commissioning – topology representation – Automation software interface starts the configurator as COM server. – COM interface
–
XML interface for parameter exchange between client and server – including embedded graphical user interface – EXE file, executable under Windows 2000, XP and Vista The EtherCAT configurator is not required if the TwinCAT software from Beckhoff is used.
ET9200 | EtherCAT Master Sample Code for EtherCAT master developers is based on the ET9200.
The EtherCAT Master Sample Code is a user mode Windows application that demonstrates implementation of the EtherCAT master. The TR8200 workshop
Features – boot-up and configuration – sending and receiving of “raw” EtherCAT frames to/from a network adapter – management of EtherCAT slave states – reading of XML configuration descriptions – sending of the initialisation
–
commands that are defined for the different state changes to the slave device mailbox communication – CoE (CAN application protocol over EtherCAT) – SoE (Servodrive Profile over EtherCAT) – EoE (Ethernet over EtherCAT) – FoE (File Access over EtherCAT) – AoE (ADS over EtherCAT)
–
integrated virtual switch functionality – cyclical process data communication – distributed clocks state machine The software is sent as source code and can be adapted to the hardware environment (Ethernet controller) and integrated in a real-time environment.
EtherCAT Development Products
ET9300 | EtherCAT Slave Sample Code
16
The EtherCAT Slave Sample Code is an example source code in ANSI C supporting both the µC and the SPI interface. The code serves as a development base for implementation of EtherCAT in devices with own processor.
Features – – EtherCAT handling in the controller – handling of the extended state machine – mailbox handling – CiA402 drive profile application
protocol handling for: – CoE (CAN application protocol over EtherCAT) – FoE (File Access over EtherCAT) – EoE (Ethernet over EtherCAT)
–
SoE (Servo Drive Profile over EtherCAT) – AoE (ADS over EtherCAT) – sample applications for all variants The EtherCAT Slave Sample Code is included in the EL98xx EtherCAT evaluation kits.
Ordering information ET9000
licence for using the EtherCAT configurator
ET9200
licence for using the EtherCAT Master Sample Code
ET9300
licence for using the EtherCAT Slave Sample Code (included in the EtherCAT evaluation kits)
Further information www.beckhoff.com/ET9000
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
ET9400
ET9400 | EtherCAT conformance test tool the EtherCAT conformance test tool itself. The official test cases can be supplemented by their own routines. Test results and remarks are shown in a logger window and can in turn be saved as an XML file. The tool also tests the electronic description of the EtherCAT device (ESI) and includes an editor for this file format, in order to be able to process the ESI (XML file) temporarily for test purposes. EEPROM data can also be read, edited and written. Besides the items described above, the following items are also tested, among others: – plausibility of the device description (ESI) and the SII (EEPROM)
– –
test of the status machines mailbox communication using SoE and CoE – CoE object directory – consistency check of CoE object directory, EEPROM data and device description (ESI) Real-time behaviour in relationship to distributed clocks (DC) cannot be tested using the ET9400, because a real-timecapable master with DC support is required for this.
EtherCAT Development Products
The conformance test tool enables in-house testing of EtherCAT slave devices. Use of the ET9400 tool during the development of an EtherCAT device assists in ensuring conformity and in preparing the device for the official, independent conformance test in an accredited test laboratory of the EtherCAT Technology Group. The ET9400 tool requires a standard PC with Windows OS; special hardware is not required. The EtherCAT frames for stimulation of the device under test are sent via the standard Ethernet port. The tool processes the standard test cases supplied (XML files) sequentially. In this way, extensions of the test cases are possible without modifying
Ordering information ET9400
1-year licence for using the EtherCAT conformance test tool
17
Further information www.beckhoff.com/ET9400
We reserve the right to make technical changes.
BECKHOFF New Automation Technology
ET1902, ET1903
ET1902, ET1903 | Safety over EtherCAT licence
EtherCAT Development Products
In the interest of realising safe data communication for EtherCAT, the Safety over EtherCAT protocol has been disclosed. The protocol meets the requirements of IEC 61508 up to Safety Integrity Level (SIL) 3, as approved by the German Technical Inspection Agency (TÜV). EtherCAT is used as a single-channel communication system. The transport medium is regarded as a “black channel” and not included in the safety considerations. Thus, the protocol can also be transmitted by other communication systems, backplanes, WLAN. The transfer cycle can be as short as required without affecting residual error
18
probability. The cyclic exchange of safe data between a Safety over EtherCAT master and a Safety over EtherCAT slave is referred to as a connection that is monitored via a watchdog timer. A master can establish and monitor several connections to different slaves. The Safety over EtherCAT frame includes a command, safe process data that are verified via a checksum (CRC), and a unique connection ID. A minimum frame with 1 byte of safe process data is 6 byte long. The maximum length is determined by the number of process data required by the slave. The protocol imposes no maximum length restriction.
The licences allow implementation of the Safety over EtherCAT protocol in a device. They are
Ordering information
Description
ET1902
general licence for producing Safety over EtherCAT-compliant slave devices, including
ET1903
–
Safety over EtherCAT slave specification
–
test specification
general company licences that are independent of the quantity.
– introduction to the technology, 1-day seminar at Verl, Germany general licence for producing Safety over EtherCAT-compliant master devices, including –
Safety over EtherCAT master specification
–
test specification
–
introduction to the technology, 1-day seminar at Verl, Germany
Further information www.beckhoff.com/ET1902
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
TC9910-B110
TC9910-B110 | Demokit The demokit consists of: – EK1100 EtherCAT Coupler – 2 digital input terminals 24 V DC – 2 digital output terminals 24 V DC – Beckhoff product folder – Beckhoff TwinCAT CD – “TwinCAT Quickstart“ documentation – documentation describing the EK1100 – a 25 cm section of 35 mm mounting rail for fitting the terminal system – TwinCAT PLC licence (only TC9910-B110) – end cap – Ethernet cable
Ordering information
Description
TC9910-B110
EtherCAT demokit, with TwinCAT PLC licence
EtherCAT Development Products
The TC9910-B11x EtherCAT demokit offers a quick introduction into EtherCAT communication. It includes EtherCAT Terminals and a Coupler for testing simple I/O functions. The enclosed CD contains a step-by-step guide and a full version of TwinCAT as programming environment for the Beckhoff EtherCAT master. EtherCAT slaves of any type can be tested with this field-proven EtherCAT master. It also includes a comprehensive help collection that facilitates familiarisation with Beckhoff ADS communication and programming according to IEC 61131.
TC9910-B111
EtherCAT, EK1100, EtherCAT Terminals (without PLC licence)
19
We reserve the right to make technical changes.
BECKHOFF New Automation Technology
TR8110
TR8xxx | EtherCAT workshops for developers The EtherCAT technology basics for developers seminar is aimed at developers as recommendable preparation before attending one of the mentioned workshops below. In this seminar basic EtherCAT knowledge is conveyed. The workshops are aimed at developers of EtherCAT masters (TR8200) or EtherCAT slaves (TR8100). In addition to theoretical content they also include practical exercises. It is assumed that
workshop participants have access to an evaluation kit (EL98xx) (slave workshop) or the Master Sample Code (ET9200) (master workshop). Basic EtherCAT knowledge is assumed. The workshops are led by developers and held in manageable groups so that individual interests can be addressed.
TR8110
EtherCAT technology basics for developers
Ordering information
–
EtherCAT basics
–
slave structure
–
physical layer
–
device model
–
data link layer frame structure addressing, commands memory, SYNC manager, FMMUs diagnosis
–
application layer state machine
EtherCAT Development Products
mailbox (mailbox protocols)
20
–
Slave Information Interface (EEPROM)
–
device profiles
–
distributed clocks
–
EtherCAT Slave Information (ESI) file in XML
–
tools (configurator, monitor,...)
–
EtherCAT master
–
standard & references
duration: 1 day training location: Verl, Germany
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
TR8100, TR8200
TR8100
EtherCAT evaluation workshop for slave developers
Ordering information
–
hardware for EtherCAT
–
TwinCAT 2.10 installation, including drivers and EtherCAT protocol
–
TwinCAT introduction
–
process data interfaces (PDIs):
–
8/16 bit microcontroller interface, 32 bit digital I/O, SPI interface evaluation kit – how to use
–
Slave Sample Source Code
–
EtherCAT Slave Controller: ASICs ET1100 and ET1200 and EtherCAT IP Core
–
network monitor
–
EtherCAT Slave Information File (ESI)
duration: 1 day training location: Verl, Germany Please note that the content of the seminar “EtherCAT Technology Basics for Developers“ is essential for this workshop. TR8200
EtherCAT Master Sample Code workshop for master developers
Ordering information
–
introduction to network communication under Windows (NDIS, miniport, etc.)
–
introduction to System Manager (for generating the XML file, installation may be required)
–
EtherCAT Network Information (ENI) file in XML installation and compilation (with MS Visual Studio® 6) of the Master Sample Code
–
structure of the Master Sample Code
–
network monitor
–
sending of the initialisation commands
–
sending of cyclical data (process data)
–
mailbox functionality
EtherCAT Development Products
–
CAN application protocol over EtherCAT Ethernet over EtherCAT protocol duration: 1 day training location: Verl, Germany Please note that the content of the seminar “EtherCAT Technology Basics for Developers“ is essential for this workshop.
We reserve the right to make technical changes.
BECKHOFF New Automation Technology
21
Information Media | Print
Order no. DK110x
Order no. DK140x
Order no. DK130x
Order no. DK600x
Order no. DK4000
Main catalog
Product overview
News catalog
PC Control magazine
Product DVD
EtherCAT Development Products
beckhoff.com/media
22
Ordering information
Description
DK1101
Main catalog, German
DK1102
Main catalog, English
DK1301
News catalog, German
DK1302
News catalog, English
DK1401
Product overview, German
DK1402
Product overview, English
DK1405
Product overview, French
DK1406
Product overview, Italian
DK1407
Product overview, Russian
DK4000
Main catalog and software products on DVD, German, English, Italian
DK6001
Company magazine PC Control, German
DK6002
Company magazine PC Control, English
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
Information Media | Internet
beckhoff.com
Online documentation In addition to all the information contained in the printed catalog, the online service offers additional information, available in the universal PDF or in CHM (Compiled HTML) file format: detailed documentation and manuals for the Beckhoff products and software updates, technical drawings and configuration files for the fieldbus components. The full version of the powerful TwinCAT automation software can be downloaded and tested free of charge for 30 days. For further information on EtherCAT products see www.beckhoff.com/EtherCAT
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT™, TwinSAFE™ and XFC™ are registered trademarks of Beckhoff. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners. © Beckhoff Automation 3/2010, subject to change without prior notice. The information provided in this brochure contains merely general descriptions or characteristics of performance which in case of actual application do not always apply as described or which may change as a result of further development of the products. An obligation to provide the respective characteristics shall only exist
23
if expressively agreed in the terms of contract.
We reserve the right to make technical changes.
EtherCAT Development Products
The Beckhoff internet presence offers comprehensive product and system information, technical data and documentation – basically everything that is worth knowing. The complete online presence is available in German at www.beckhoff.de and in English at www.beckhoff.com. The clear structure of the online offer simplifies the location of products and solutions. A clear tree structure and hyperlinks on each page facilitate navigation. A convenient search function permits rapid access to the desired product information. Concrete examples of the practical use of Beckhoff components and system solutions are documented by application reports from widely differing branches of industry.
BECKHOFF New Automation Technology
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[email protected]
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[email protected] Mexico Mexico Sales and Application Development Integra Automation, SA de CV Av. Industrias 325-A 78399 Fracc. Talleres San Luis Potosí, S.L.P. México Phone: + 52 444 / 822 2615 al 17
[email protected] Central and South America Argentina eFALCOM Alcorta 2411 CPA B1744HFM Moreno / Buenos Aires Argentina Phone: + 54 237 / 463 1151
[email protected] www.efalcom.com Brazil Headquarters Beckhoff Automação Industrial Ltda. Rua Continental, 146 São Bernardo do Campo São Paulo 09750-060 Brazil Phone: + 55 (11) 4126-3232
[email protected] www.beckhoff.com.br
Sales Office Campinas Beckhoff Automação Industrial Ltda. Edifício Empresarial Torre do Castelo Rua Francisco Otaviano, 60 Sala 94 – Bairro Chapadão Campinas 13070-056 – SP Brazil Phone: + 55 (19) 3368-7288
[email protected]
Japan K.MECS Co., Ltd. Yusen Iwamotocho Blg. 3F 2-3-3 Iwamotocho, Chiyoda-City, Tokyo 101-0032 Japan Phone: + 81 3 5825 5333
[email protected] www.kmecs.com
Chile Tecmel Chile S.A. Padre Orellana 1486 Santiago Chile Phone: + 562 / 596 2541
[email protected] www.tecmelchile.cl
Lebanon, Jordan, Syria Industrial Technologies (itec) S.A.L. Afrah Plaza Center, Blvd Fouad Chehab Sin El Fil, Beirut Lebanon Phone: + 961 (1) 49 11 61
[email protected] www.iteclb.com
Costa Rica, Nicaragua, Honduras, El Salvador, Guatemala, Belize, Panama TAAC S.A. 50 Sur Hotel Grano de Oro Calle 30, Avenidas 4-6 San José 10103 Costa Rica Phone: + 506 / 2222-6450
[email protected] www.taac-sa.com Uruguay Comando Ltda. Dr. J. de Salterain 1142 Montevideo 11200 Uruguay Phone: + 598 (2) / 400-7923
[email protected] www.comandonet.com Africa Egypt Industrial Control Systems ICS 29 Dr. Mohamed El Harouny Street Nasr City, Cairo 11371 Egypt Phone: + 20 2 / 2 75 50 31
[email protected] www.ics-me.com South Africa Beckhoff Automation (Pty) Ltd Unit 8, Boskruin Business Park, Randpark Ridge Randburg 2188 South Africa Phone: + 27 (0) 11 792 3374
[email protected] www.beckhoff.co.za Asia China Headquarters Beckhoff Automation (Shanghai) Co. Ltd. 5th Floor, No. 163 JiangChang San Road Shanghai Shibei Industrial Zone Shanghai, 200436 P. R. China Phone: + 86 21 / 66 31 26 66
[email protected] www.beckhoff.com.cn Office Beijing Beckhoff Automation (Shanghai) Co. Ltd. Room 1801-1803, Tower T3, Xihuan Plaza, No.1, Xizhimenwai Avenue Xicheng District Beijing, 100044 P. R. China Phone: + 86 10 / 58 30 12 36
[email protected] Office Chengdu Beckhoff Automation (Shanghai) Co. Ltd. 8F, G of The City Tower, No. 86, Section one, South Peoples Road Chengdu, Sichuan, 610016 P. R. China Phone: + 86 28 / 86 20 25 81
[email protected] Office Guangzhou Beckhoff Automation (Shanghai) Co. Ltd. Room 4118-4119 Yaozhong Plaza 9 West Linhe Road Tianhe District Guangzhou, 510620 P. R. China Phone: + 86 20 / 38 01 03 00
[email protected]
Singapore, Malaysia, Philippines, Vietnam, Indonesia TDS Technology (S) Pte Ltd. 64 Sungei Kadut Loop (Hocen Building) Singapore 729493 Singapore Phone: + 65 / 63 66 16 61
[email protected] www.tdstech.com Thailand TDS Technology (Thailand) Co., Ltd. 50/962 Moo 2 Bengyeetos Thanyaburi Pratumthanee 12130 Bangkok Thailand Phone: + 66 (0) 2569 5511
[email protected] www.tdstech.com T & R Electronic (Thailand) Co., Ltd. 120/62 Moo 8 Bang Sare Sattahip Chonburi 20250 Thailand Phone: + 66 (0) 3873 7487
[email protected] www.trelectronic.co.th South Korea Tri-TEK Corp. 717 DaeRyung TechnoTown III 448 KasanDong Kumcheongu Seoul 153-803 Korea Phone: + 82 2 / 2107-32 42
[email protected] www.tritek.co.kr Taiwan JI-DIEN Co., Ltd. 9F., No. 22, Sec. 1, Zhongshan Rd. Xingzhuang City Taipei County 242 Taiwan (R.O.C.) Phone: + 886 (2) 8522 3237
[email protected] www.chgroup.com.tw United Arab Emirates, Oman, Qatar, Bahrain, Kuwait, Saudi Arabia Beckhoff Automation FZE C# 608, Dubai Silicon Oasis P.O. Box No. 341007 Dubai United Arab Emirates Phone: + 971 4 5015480
[email protected] www.beckhoff.ae Australia Australia Beckhoff Automation Pty. Ltd. Level 16, 10 Queens Road Melbourne, Victoria, 3004 Australia Phone: + 61 (3) 99 12 54 30
[email protected] www.beckhoff.com.au New Zealand CSE-W. Arthur Fisher Ltd P.O. Box 58955 Botany Manukau 2163 New Zealand Phone: + 64 9 271 3810
[email protected] www.cse-waf.co.nz
Office Wuhan Beckhoff Automation (Shanghai) Co. Ltd. Room 1803, 18/F., Wuhan Zhongshang Plaza, NO.7, Zhongnan Road, Wuhan, Hubei P.R. China Phone: + 86 27 / 81 34 87 15
[email protected] India Beckhoff Automation Pvt. Ltd. Suite 4, Level 6, Muttha Towers Don Bosco Marg Pune – 411 006 India Phone: + 91 20 / 40 00 48 00
[email protected] www.beckhoff.co.in Inteltek Automation Pvt. Ltd. Sr.no.100/5, Ambegaon Pune – 411 046 Maharashtra India Phone: + 91 20 / 24 31 81 21
[email protected] www.inteltekindia.com
www.beckhoff.com
DK3272-0310
Headquarters
