在征服了辦公自動化領域之后，以太網(wǎng)和 TCP/IP 現(xiàn)在正在推動從集中式控制系統(tǒng)向分布式控制系統(tǒng)的轉變，承諾自動化和企業(yè)金字塔內的無縫通信。滿足工廠車間的條件需要適應，特別是對于實時行為的要求。HTTP 和 FTP 等非確定性通信協(xié)議提供了一個有用的開端，但事實證明，創(chuàng)建滿足工業(yè)要求的其他以太網(wǎng)友好應用協(xié)議是必要的。

OSI 參考模型

OSI 參考模型示意性地描述和標準化網(wǎng)絡架構中設備之間的通信。通信所需的功能細分為七個功能層。每個相應的較低層通過定義良好的接口向上面的層提供其服務。

在用戶數(shù)據(jù)（應用程序）可以通過以太網(wǎng)介質發(fā)送之前，它必須通過協(xié)議棧從上層到下層向下傳遞，終嵌入到特定下層的幀中（封裝）。數(shù)據(jù)包通過低（物理介質）層發(fā)送后，它包含的數(shù)據(jù)向上通過接收設備的所有更高層，直到到達應用層。整個過程需要在每一層內部進行邏輯交互來完成網(wǎng)絡連接。



傳輸數(shù)據(jù)的解釋與用戶相關，并在應用程序協(xié)議中指定（第5-7 層）。在辦公世界中，可以使用被稱為 IT 標準的廣泛應用協(xié)議，例如 FTP、HTTP 等。彼此不兼容的協(xié)議的工業(yè)通信使用這些層。這些自動化協(xié)議可以以不同的方式實現(xiàn)。自動化協(xié)議可以直接安裝在 OSI 參考模型的第 4 層（Modbus/TCP、EtherNet/IP 和 CIPsync、JetSync）上，或者另外，第 3 層和第 4 層將被替換和擴展（ETHERNET Powerlink、PROFInet、SERCOS）。

 

EtherCAT（用于控制自動化技術的以太網(wǎng)）是由德國 Beckhoff 公司開發(fā)的基于以太網(wǎng)的自動化概念。在這項技術中，以太網(wǎng)數(shù)據(jù)包不再被接收，然后被解釋并復制為網(wǎng)絡內每個模塊的過程數(shù)據(jù)。相反，以太網(wǎng)幀是動態(tài)處理的：對于網(wǎng)絡中的每個模塊，讀取尋址到該模塊的數(shù)據(jù)，同時將電報轉發(fā)到下一個模塊。類似地，在電報通過時插入輸入數(shù)據(jù)。電報僅延遲幾納秒，從而提高了系統(tǒng)的實時性能。網(wǎng)段中的后一個模塊將幀發(fā)回以創(chuàng)建邏輯和物理環(huán)結構。所有傳輸?shù)臄?shù)據(jù)都包含完全兼容的以太網(wǎng)幀；

實時以太網(wǎng)幀通過內部優(yōu)先系統(tǒng)優(yōu)先于其他數(shù)據(jù)（例如配置或診斷等所需的數(shù)據(jù)）。如果有足夠的時間或通過使用特定的服務通道，配置數(shù)據(jù)將在時間間隙中傳輸。操作系統(tǒng)的完全維護的以太網(wǎng)功能實現(xiàn)了與傳統(tǒng) IP 協(xié)議的兼容性。基于 IEEE 1588 的同步機制實現(xiàn)了能夠支持 EtherCAT 下的運動控制應用的性能。

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The interpretation of transferred data is user related and specified in application protocols (Layers 5-7). In the office world a wide range of application protocols, known as IT standards, are available, e.g. FTP, HTTP, etc. Industrial communication with protocols incompatible to each other use these layers. These automation protocols can be realised in different ways. Either the automation protocol is directly mounted on Layer 4 of the OSI reference model (Modbus/TCP, EtherNet/IP and CIPsync, JetSync) or, additionally, Layer 3 and 4 will be replaced and extended (ETHERNET Powerlink, PROFInet, SERCOS).

EtherCAT

EtherCAT (Ethernet for Control Automation Technology) is an Ethernet-based automation concept developed by the German company Beckhoff. In this technology the Ethernet packet is no longer received, then interpreted and copied as process data at each module within the network. Instead, the Ethernet frame is processed on the fly: For each module within the network, data addressed to that module is read, while the telegram is forwarded on to the next module. Similarly, input data is inserted while the telegram passes through. The telegrams are only delayed by a few nanoseconds so increasing performance of the system towards real-time behaviour. The last module within the network segment sends the frame back to create a logical and physical ring structure. All transferred data comprises fully compatible Ethernet frames; each module converts these Ethernet frames to what is effectively an internal fieldbus.

The real-time Ethernet frames have priority over other data (such as those required for configuration or diagnosis, etc) via an internal prioritisation system. Configuration data is transmitted in the time gaps if sufficient time is available or by using a specific service channel. Fully maintained Ethernet functionality of the operating system achieves compatibility with conventional IP protocols. Synchronisation mechanisms based on IEEE 1588 achieve performance capable of supporting motion control applications under EtherCAT.