FEATURES
author Florian Pose <fp@igh-essen.com>
Wed, 05 Nov 2008 10:44:42 +0000
branchstable-1.4
changeset 1659 f04865a2454f
parent 1083 1322dc34cb37
child 1319 38da03647aee
child 1679 c9abd45c7472
permissions -rw-r--r--
merge -c1541 trunk: Userspace applications (excerpts).
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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 serveral network interface
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  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 extension.
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* Common kernel interface for realtime modules using EtherCAT functionality.
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  - Synchronous transmission and reception of EtherCAT 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).
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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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  - Setting 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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* Implementation of the CANopen-over-EtherCAT (CoE) protocol.
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  - Configuration of CoE-capable slaves via Sdo interface.
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  - Sdo information service (dictionary listing).
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  - Sdo access via the realtime interface.
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* Implementation of 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 with standard GNU/Linux tools.
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* User space interface via a command-line tool 'ethercat'.
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  - Detailed information about master, slaves and the bus configuration.
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  - Slave SII reading and writing.
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* Seamless integration in your favourite GNU/Linux distibution.
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  - Master and network device configuration via sysconfig files.
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  - "Linux standard base"-compatible init script for master control.
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* Virtual read-only network interface for debugging purposes and for
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  monitoring the EtherCAT traffic (through Wireshark, or others).
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