author | Florian Pose <fp@igh-essen.com> |
Mon, 09 Jan 2012 10:23:40 +0100 | |
branch | stable-1.5 |
changeset 2204 | 1abb01002cc5 |
parent 1590 | fc0754d91316 |
child 2059 | ab0b96ac18bb |
child 2421 | bc2d4bf9cbe5 |
permissions | -rw-r--r-- |
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This is the FEATURES file of the IgH EtherCAT Master. |
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$Id$ |
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vim: spelllang=en spell |
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General Features: |
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* EtherCAT master implementation conforming to IEC/PAS 62407. |
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- Runs as kernel module for Linux 2.6. |
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- Multiple masters possible on one machine. |
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* Native EtherCAT-capable versions of standard Linux drivers for wide-spread |
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Ethernet devices, as well as a generic driver for all chips supported by the |
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Linux kernel. |
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- Interrupt-less operation of Ethernet devices when using native drivers. |
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- Easy implementation of additional native Ethernet drivers through common |
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device interface. |
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- Operation possible with any device supported by the standard drivers, |
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including PCMCIA devices. |
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- For any other hardware, the generic driver can be used. It uses the lower |
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layers of the Linux network stack. |
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* Supports any realtime environment through independent architecture. |
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- RTAI, Xenomai, RT-Preempt, etc. |
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- Operation possible without any realtime extension at all. |
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* Common API for Realtime-Applications in kernel- and userspace. |
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- Requesting and releasing masters. |
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- Dynamic slave configuration, even for slaves that are offline. |
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merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
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- Detailed configuration of the slaves' PDOs and SDOs. |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
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- Creation of process data domains (see below). Registration of PDO entries |
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for exchange within a domain. |
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- Monitoring the states of masters, slave configurations and domains. |
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4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1320
diff
changeset
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- SDO handlers for application-triggered CoE transfers (see below). |
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- VoE handlers for Vendor-specific mailbox protocols (see below). |
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- Similar userspace implementation of the kernel API via a C-library. |
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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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- Process data exchange can be monitored via a per-domain mechanism. |
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Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
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* Master finite state machine (FSM). |
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- The same state machine runs both in idle mode and in realtime operation. |
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- Bus monitoring: Slave states are read cyclically. Automatic scanning of the |
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bus after a topology change. |
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- Automatic configuration of slaves, if a application-layer state change is |
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requested. |
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* Implementation of the "CANopen over EtherCAT" (CoE) mailbox protocol. |
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- Configuration of CoE-capable slaves. |
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4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1320
diff
changeset
|
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- SDO information service (dictionary listing). |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1320
diff
changeset
|
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- SDO transfers both via the application interface and the command-line tool. |
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* Implementation of the "Ethernet over EtherCAT" (EoE) mailbox protocol. |
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- Virtual network interface for any EoE-capable slave. |
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- Both a switched and a routed EoE network architecture is natively supported |
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and configurable with standard tools. |
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* Implementation of the "Vendor-specific over EtherCAT" (VoE) mailbox protocol. |
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- Communication with vendor-specific mailbox protocols via the API. |
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* Implementation of the "File Access over EtherCAT" (FoE) mailbox protocol. |
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- Loading and storing files via the command-line tool. |
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- Updating a slave's firmware can be done easily. |
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* Userspace command-line tool 'ethercat'. |
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- Detailed information about master, slaves, domains and bus configuration. |
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- Setting the master's debug level. |
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- Reading/Writing alias addresses. |
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- Listing slave configurations. |
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- Viewing process data. |
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4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1320
diff
changeset
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- SDO download/upload; listing SDO dictionaries. |
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- Loading and storing files via FoE. |
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- Access to slave registers. |
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- Slave SII (EEPROM) access. |
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- Controlling application-layer states. |
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- Generation of slave description XML from existing slaves. |
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* Seamless integration in any GNU/Linux distribution. |
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- "Linux Standard Base"-compatible init script for master control. |
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- Master and Ethernet device configuration via sysconfig file. |
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* Virtual read-only network interface for debugging and traffic monitoring |
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purposes (using Wireshark, etc.). No additional hardware necessary. |
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