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1.1定义 EtherCAT（以太网控制自动化技术，Ethernet for Control Automation Technology的缩写） 是一个开放架构，以以太网为基础的现场总线系统，EtherCAT是确定性的工业以太网，最早是由德国倍福Beckhoff公司于2003研发推出，于2007年成为国际标准，并于2014年成为中国国家标准。 EtherCAT、Ethernet/IP 和 Modbus TCP 是当前应用最为广泛的三种工控以太网协议。 它们虽然都运行在标准以太网的物理层和数据链路层之上，但在协议机制、性能特点和适用场景上存在显著差异。 本报告旨在从关键维度对比分析这三种协议。 2. 协议简介 EtherCAT（以太网控制自动化技术）是一个开放架构，以以太网为基础的现场总线系统，其名称的CAT为控制自动化技术（Control Automation Technology）字首的缩写。 EtherCAT是确定性的工业以太网，最早是由德国的Beckhoff公司研发。
EtherCAT （乙太網控制自動化技術[1]）是一個開放架構，以 乙太網 為基礎的 現場總線 系統，其名稱的CAT為控制自動化技術（C ontrol A utomation T echnology）字首的縮寫。 Instead, the ethernet frame is processed on the fly. 本文深入介绍了EtherCAT实时工业以太网技术，包括其在运动控制中的应用、实时性、拓扑结构、协议栈、设备寻址方式、分布式时钟、应用层协议和设备配置。
EtherCAT （乙太網控制自動化技術[1]）是一個開放架構，以 乙太網 為基礎的 現場總線 系統，其名稱的CAT為控制自動化技術（C ontrol A utomation T echnology）字首的縮寫。 EtherCAT是確定性的 工業以太網，最早由德國的 Beckhoff公司 研發 [2]。
一起学嵌入式，一起学习，一起成长EtherCAT概述1.1 什么是EtherCATEtherCAT（Ethernet for Control Automation Technology）是一种基于以太网的高性能工业通信协议，由德国Beckhoff公司于2003年开发，现由EtherCAT… The ethercat technology overcomes the system limitations of other ethernet solutions The ethernet packet is no longer received, then interpreted and copied as process data at every connection
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