FEATURES
author Florian Pose <fp@igh-essen.com>
Mon, 29 Dec 2008 10:55:18 +0000
branchstable-1.4
changeset 1681 6e8477e16eec
parent 1679 c9abd45c7472
child 1686 e206f4485f60
permissions -rw-r--r--
Reverted rtai example changes.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
-------------------------------------------------------------------------------
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
This is the FEATURES file of the IgH EtherCAT Master.
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     5
$Id$
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     6
1679
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
     7
vim: spelllang=en spell
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
     8
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     9
-------------------------------------------------------------------------------
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    10
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    11
General Features:
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    12
1679
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    13
* EtherCAT master implementation conforming to IEC/PAS 62407.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    14
  - Runs as kernel module for Linux 2.6.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    15
  - Multiple masters possible on one machine.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    16
1679
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    17
* EtherCAT-capable versions of standard Linux drivers for wide-spread
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    18
  Ethernet devices.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    19
  - Interrupt-less operation of Ethernet devices.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    20
  - Easy implementation of additional Ethernet drivers through common device
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    21
    interface.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    22
  - Operation possible with any device supported by the standard drivers,
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    23
    including PCMCIA devices.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    24
1679
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    25
* Supports any realtime environment through independent architecture.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    26
  - RTAI, Xenomai, RT-Preempt, etc.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    27
  - Operation possible without any realtime extension at all.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
1679
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    29
* Common API for Realtime-Applications in kernel- and userspace.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    30
  - Requesting and releasing masters.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    31
  - Dynamic slave configuration, even for slaves that are offline.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    32
  - Detailed configuration of the slaves' Pdos and Sdos.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    33
  - Creation of process data domains (see below). Registration of Pdo entries
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    34
    for exchange within a domain.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    35
  - Monitoring the states of masters, slave configurations and domains.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    36
  - Sdo handlers for application-triggered CoE transfers (see below).
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    37
  - Avoidance of unnecessary copy operations for process data.
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    38
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
* Separating slave groups through domains.
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
  - Handling of multiple slave groups with different sampling rates.
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
  - Automatic calculation of process data mapping, FMMU- and sync manager
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
    configuration within the domains.
1679
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    43
  - Process data exchange can be monitored via a per-domain mechanism.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
1083
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 555
diff changeset
    45
* Master finite state machine (FSM).
1679
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    46
  - The same state machine runs both in idle mode and in realtime operation.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    47
  - Bus monitoring: Slave states are read cyclically. Automatic scanning of the
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    48
    bus after a topology change.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    49
  - Automatic configuration of slaves, if a application-layer state change is
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    50
    requested.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    51
1679
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    52
* Implementation of the CANopen-over-EtherCAT (CoE) mailbox protocol.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    53
  - Configuration of CoE-capable slaves.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    54
  - Sdo information service (dictionary listing).
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    55
  - Sdo transfers both via the application interface and the command-line tool.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    56
1679
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    57
* Implementation of the Ethernet-over-EtherCAT (EoE) mailbox protocol.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    58
  - Virtual network interface for any EoE-capable slave.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    59
  - Both a switched and a routed EoE network architecture is natively supported
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    60
    and configurable with standard tools.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    61
1679
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    62
* Userspace command-line tool 'ethercat'.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    63
  - Detailed information about master, slaves, domains and bus configuration.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    64
  - Reading/Writing alias addresses.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    65
  - Listing slave configurations.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    66
  - Viewing process data.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    67
  - Sdo download/upload; listing Sdo dictionaries.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    68
  - Slave SII (EEPROM) access.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    69
  - Controlling application-layer states.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    70
  - Generation of slave description XML from existing slaves.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    71
1679
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    72
* Seamless integration in any GNU/Linux distribution.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    73
  - "Linux Standard Base"-compatible init script for master control.
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    74
  - Master and Ethernet device configuration via sysconfig file.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    75
1679
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    76
* Virtual read-only network interface for debugging and traffic monitoring
c9abd45c7472 FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    77
  purposes (using Wireshark, etc.). No additional hardware necessary.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    78
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    79
-------------------------------------------------------------------------------