User manual

Control Wiring
ANCA Motion DS619-0-00-0019 - Rev 0 63
7
AMD2000 functions as an EtherCAT slave controller, providing two ports (IN/OUT) for connection to other
EtherCAT compliant equipment. This allows nodes to be connected in many configurations such as a ring, star,
or tree, with EtherCAT’s self-terminating technology automatically detecting breaks or an intended end of line.
If only one port is used for EtherCAT operation, it must be the X1 (IN) port.
7.6.12 EtherCAT topology / Port assignment
Loopback
Function
EtherCAT
Processing Unit
EtherCAT
Slave Controller
Port 0
Closed
Port 0 open
or all ports
closed
Auto-
forwarder
Loopback
Function
Loopback
Function
Port 1
Closed
Auto-
forwarder
Loopback
Function
In
Out
Port 3
Closed
Port 2
Closed
Port 1
Open
Possible EtherCAT Configurations are 7.6.12.1
IN OUT
IN IN
IN IN
IN
IN
IN
IN
OUT
OUT
OUT
OUT OUT
OUT
OUT
OUT
EtherCAt Master
1 2 3
4 5 6 7 8 9
Straight Line Topology EtherCAT Network:
IN OUT
IN IN
IN IN
IN
IN
IN
IN
OUT
OUT
OUT
OUT OUT
OUT OUT
OUT
EtherCAt Master
1 2 3 4 5 6 7 8 9
Ring Topology EtherCAT network: