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The following document outlines the EtherCAT based networks that KAS supports and key parameters that define each of the network.
| Non-Motion Networks | Motion Networks | |||||
|---|---|---|---|---|---|---|
| Category | Modbus TCP/IP | UDP | HTTP | Profinet | EtherNet/IP | EtherCAT |
| Transmission Speed | 100 Mbits/sec | 100 Mbits/sec | 100 Mbits/sec | 100 Mbits/sec | 100 Mbits/sec | 100 Mbits/sec |
| Deterministic? | No | No | No | No | No | Yes |
| HW Layer | Ethernet technology | Ethernet technology | Ethernet technology | Ethernet technology | Ethernet technology | Ethernet technology |
| Update Rate | down to 200msec | down to 1msec | down to xxxx msec | down to 4msec | down to 10msec | 0.25 to 2.5msec |
| Support in IDE | Dedicated setup screen for mapping dictionary variables to Modbus transmission addresses | Set of FBs to setup communications and send data in non-string or string format | Setting on Controller Properties in Project view for making all parameters accessible to HTTP link. Can use standard HTTP commands to start/stop a project and reading/writing variable values | Dedicated setup screen for mapping dictionary variables to transmission locations | Dedicated setup screen for mapping dictionary variables to transmission locations |
FBs for Reading/Writing parameters to Drives and third-party I/O: DriveParamRead, DriveParamWrite, ECATReadSDO, ECATWriteSDO. Automatic network setup through scan feature. Screens to setup init and PDO variables. Tools to integrate third-party products. |
| Types Supported | Slave only | Send or Receive | Server only | Profinet IP RT Controller, Profinet IO RT Device | Scanner, Adapter, Tag Client | COE (Can Over EtherCAT) Master |
| Documentation Available | Yes | Yes | Yes - includes examples using C# and C++ programming languages | Yes | Yes | Yes |
| Sample Project Available? | Yes, on KDN | Yes | Yes, on KDN | No | Yes, on KDN | N/A |
| Transfer Motion | Non-Motion Profile only | Non-Motion Profile only | Non-Motion Profile only | Non-Motion Profile only | Non-Motion Profile only | Yes |
| Use w/ PC-based Embedded Controller | Typically not | Yes | Yes | Typically not | Typically not | No - PDMM is master only |
| PDMM Connection Point | Connector X32 | Connector X32 | Connector X32 | Connector X32 | Connector X32 | Connector X6 |
| IDE Requires Node Config File | No | No | No | No | No | Yes |
| Typical Mating Products | Common for third-party HMI interfaces | PC-based Controller | PC-based Controller | Typically used with Siemens PLC | - | Kollmorgen drives, Kollmorgen I/O, third-party products |
