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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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