Master Class
ETG.1500 D (R) 1.0.2 defines Master Classes with a well-defined set of Master functionalities.Class A: Standard EtherCAT Master Device Class B: Minimum EtherCAT Master Device WMX3 EcPlatform (Class A): 〇 Completely Support, △ Partial Support, × Not Support yet
Feature Name |
Master Class A |
Master Class B |
WMX3 |
|---|---|---|---|
Basic Features |
|||
Service Commands |
shall if ENI import support |
shall if ENI import support |
〇 |
IRQ field in datagram |
should |
should |
〇 |
Slaves with Device Emulation |
shall |
shall |
〇 |
EtherCAT State Machine |
shall |
shall |
〇 |
Error Handling |
shall |
shall |
〇 |
VLAN |
may |
may |
× |
EtherCAT Frame Types |
shall |
shall |
〇 |
UDP Frame Types |
may |
may |
× |
Process Data Exchange |
|||
Cyclic PDO |
shall |
shall |
〇 |
Multiple Tasks |
may |
may |
× |
Frame repetition |
may |
may |
× |
Network Configuration |
|||
Online scanning |
at least one of them |
at least one of them |
〇 |
Reading ENI |
△ (WMX3 own format) |
||
Compare Network configuration |
shall |
shall |
〇 |
Explicit Device Identification |
should |
should |
〇 |
Station Alias Addressing |
may |
may |
〇 |
Access to EEPROM |
read shall write may |
read shall write may |
〇 (both) |
Mailbox Support |
|||
Support Mailbox |
shall |
shall |
〇 |
Mailbox Resilient Layer |
shall |
shall |
〇 |
Multiple Mailbox channels |
may |
may |
× |
Mailbox polling |
shall |
shall |
〇 |
CAN application layer over EtherCAT (CoE) |
|||
SDO Up/Download |
shall |
shall |
〇 |
Segmented Transfer |
shall |
should |
〇 |
Complete Access |
shall |
should shall if ENI Import supported |
〇 |
SDO Info service |
shall |
should |
〇 |
Emergency Message |
shall |
shall |
〇 |
PDO in CoE |
may |
may |
× |
EoE |
|||
EoE protocol |
shall |
shall if EoE support |
〇 |
Virtual Switch |
shall |
shall if EoE support |
〇 |
EoE Endpoint to Operation Systems |
shall |
shall if EoE support |
〇 |
FoE |
|||
FoE Protocol |
shall |
shall if FoE support |
〇 |
Firmware Up/Download |
shall |
should |
〇 |
Boot State |
may |
shall if FW UP / Download |
〇 |
SoE |
|||
SoE Services |
shall |
should if SoE support |
〇 |
AoE |
|||
AoE Protocol |
should |
should |
〇 |
VoE |
|||
VoE Protocol |
may |
may |
〇 |
Synchronization with Distributed Clock (DC) |
|||
DC support |
shall |
shall if DC support |
〇 |
Continuous Propagation Delay compensation |
should |
should |
〇 |
Sync window monitoring |
should |
should |
〇 |
Slave-to-Slave Communication |
|||
via Master |
shall |
shall |
〇 |
Master information |
|||
Master Object Dictionary |
should |
should |
〇 |