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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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* EtherCAT-capable versions of standard Linux drivers for wide-spread

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  Ethernet devices.

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  - Interrupt-less operation of Ethernet devices.

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  - Easy implementation of additional Ethernet drivers through common device

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    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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* 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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  - Detailed configuration of the slaves' PDOs and SDOs.

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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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  - 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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* 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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  - SDO information service (dictionary listing).

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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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* Userspace command-line tool 'ethercat'.

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  - Detailed information about master, slaves, domains and bus configuration.

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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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  - SDO download/upload; listing SDO dictionaries.

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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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