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Frame Processing

I-14 Slave Controller – Technology

3.2 Frame Processing Order

The frame processing order of EtherCAT Slave Controllers depends on the number of ports (logical

port numbers are used):

Table 9: Frame Processing Order

Number of Ports

Frame processing order

0→EtherCAT Processing Unit→0

0→EtherCAT Processing Unit→1 / 1→0

0→EtherCAT Processing Unit→1 / 1→2 / 2→0 (log. ports 0,1, and 2)

0→EtherCAT Processing Unit→3 / 3→1 / 1→0 (log. ports 0,1, and 3)

0→EtherCAT Processing Unit→3 / 3→1 / 1→2 / 2→0

The direction through an ESC including the EtherCAT Processing Unit is called “processing” direction,

other directions without passing the EtherCAT Processing Unit are called “forwarding” direction.

Ports which are not implemented behave similar to closed ports, the frame is forwarded to the next

port.

Figure 5 shows the frame processing in general:

Port 2

Auto-

Forwarder

Port 1

Auto-

Forwarder

Port 3

Auto-

Forwarder

Port 0

Auto-

Forwarder

Loopback function

EtherCAT

Processing Unit

Loopback function

EtherCAT

Slave Controller

port 2 closed

port 2 open

port 1 closed

port 1 open

port 3 open

port 3 closed

port 0 open

or all ports

closed

port 0 closed

Figure 5: Frame Processing

1 2 ... 29 30 31 32 33 34 35 36 37 38 39 ... 115 116

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