FEATURES
author Florian Pose <fp@igh-essen.com>
Fri, 20 Oct 2006 12:50:28 +0000
changeset 426 0d3022ee35a2
parent 307 ffec9aae50a5
child 555 f4bdb21a6a06
permissions -rw-r--r--
Fixed bug in master state machine.
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This is the FEATURES file of the IgH EtherCAT Master.
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$Id$
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General Features:
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* Runs as kernel module for Linux 2.6.
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* Comes with EtherCAT-capable network driver for RTL8139 and compatible
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  network interface cards.
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  - Interrupt-less network driver operation.
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  - Easy implementation of additional network drivers through common device
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    interface of the master.
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  - Runs even with PCMCIA cards.
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* Supports multiple EtherCAT masters on one machine.
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* Supports any realtime extension through independent architecture.
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  - RTAI, IPIPE, ADEOS, etc.
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  - Runs well even without realtime extensions.
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* Common kernel interface, for realtime modules using EtherCAT functionality.
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  - Synchronous and asynchronous sending and receiving of frames.
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  - Avoidance of unnecessary copy operations for process data.
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* Separating slave groups through domains.
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  - Handling of multiple slave groups with different sampling rates.
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  - Automatic calculation of process data mapping, FMMU- and sync manager
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    configuration within the domains.
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* Master finite state machine (FSM). Thus:
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  - Bus monitoring during realtime operation.
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  - Automatic reconfiguration of slaves on bus power failure during realtime
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    operation.
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  - Controlling of slave states during realtime operation.
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* Special Idle mode, when master is not in use.
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  - Automatic scanning of slaves upon topology changes.
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  - Bus visualisation and EoE processing without realtime process connected.
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* Implements the CANopen-over-EtherCAT (CoE) protocol.
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  - Configuration of CoE-capable slaves via SDO interface.
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  - SDO dictionary listing.
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* Implements the Ethernet-over-EtherCAT (EoE) protocol.
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  - Creates virtual network devices that are automatically coupled to
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    EoE-capable	slaves.
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  - Thus natively supports either a switched or a routed EoE network
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    architecture.
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* User space interface via the System Filesystem (SysFS).
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  - User space tool for bus visualisation.
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  - Slave EĀ²PROM image reading and writing.
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* Seamless integration in your favourite Linux distibution.
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  - Master and network device configuration via sysconfig files.
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  - UnitedLinux compatible init script for master control.
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* Virtual read-only network interface for debugging purposes and for
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  "sniffing" the EtherCAT traffic (through Ethereal, or others).
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