8 |
8 |
9 General Features: |
9 General Features: |
10 |
10 |
11 * Runs as kernel module for Linux 2.6. |
11 * Runs as kernel module for Linux 2.6. |
12 |
12 |
13 * Comes with EtherCAT-capable network driver for RTL8139 and compatible |
13 * Comes with EtherCAT-capable network driver for serveral network interface |
14 network interface cards. |
14 cards. |
15 - Interrupt-less network driver operation. |
15 - Interrupt-less network driver operation. |
16 - Easy implementation of additional network drivers through common device |
16 - Easy implementation of additional network drivers through common device |
17 interface of the master. |
17 interface of the master. |
18 - Runs even with PCMCIA cards. |
18 - Runs even with PCMCIA cards. |
19 |
19 |
30 * Separating slave groups through domains. |
30 * Separating slave groups through domains. |
31 - Handling of multiple slave groups with different sampling rates. |
31 - Handling of multiple slave groups with different sampling rates. |
32 - Automatic calculation of process data mapping, FMMU- and sync manager |
32 - Automatic calculation of process data mapping, FMMU- and sync manager |
33 configuration within the domains. |
33 configuration within the domains. |
34 |
34 |
35 * Master finite state machine (FSM). Thus: |
35 * Master finite state machine (FSM). |
36 - Bus monitoring during realtime operation. |
36 - Bus monitoring during realtime operation. |
37 - Automatic reconfiguration of slaves on bus power failure during realtime |
37 - Automatic reconfiguration of slaves on bus power failure during realtime |
38 operation. |
38 operation. |
39 - Controlling of slave states during realtime operation. |
39 - Setting slave states during realtime operation. |
40 |
40 |
41 * Special IDLE mode, when master is not in use. |
41 * Special IDLE mode, when master is not in use. |
42 - Automatic scanning of slaves upon topology changes. |
42 - Automatic scanning of slaves upon topology changes. |
43 - Bus visualisation and EoE processing without realtime process connected. |
43 - Bus visualisation and EoE processing without realtime process connected. |
44 |
44 |
45 * Implementation of the CANopen-over-EtherCAT (CoE) protocol. |
45 * Implementation of the CANopen-over-EtherCAT (CoE) protocol. |
46 - Configuration of CoE-capable slaves via SDO interface. |
46 - Configuration of CoE-capable slaves via Sdo interface. |
47 - SDO dictionary listing. |
47 - Sdo information service (dictionary listing). |
|
48 - Sdo access via the realtime interface. |
48 |
49 |
49 * Implementation of the Ethernet-over-EtherCAT (EoE) protocol. |
50 * Implementation of the Ethernet-over-EtherCAT (EoE) protocol. |
50 - Creates virtual network devices that are automatically coupled to |
51 - Creates virtual network devices that are automatically coupled to |
51 EoE-capable slaves. |
52 EoE-capable slaves. |
52 - Thus natively supports either a switched or a routed EoE network |
53 - Thus natively supports either a switched or a routed EoE network |
53 architecture with standard GNU/Linux tools. |
54 architecture with standard GNU/Linux tools. |
54 |
55 |
55 * User space interface via the system filesystem (Sysfs). |
56 * User space interface via a command-line tool 'ethercat'. |
56 - Detailed information about master and slaves in a tree structure. |
57 - Detailed information about master, slaves and the bus configuration. |
57 - User space tool 'lsec' for quick bus visualisation. |
58 - Slave SII reading and writing. |
58 - Slave EEPROM image reading and writing. |
|
59 |
59 |
60 * Seamless integration in your favourite GNU/Linux distibution. |
60 * Seamless integration in your favourite GNU/Linux distibution. |
61 - Master and network device configuration via sysconfig files. |
61 - Master and network device configuration via sysconfig files. |
62 - "Linux standard base"-compatible init script for master control. |
62 - "Linux standard base"-compatible init script for master control. |
63 |
63 |