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3 This is the FEATURES file of the IgH EtherCAT Master. |
3 This is the FEATURES file of the IgH EtherCAT Master. |
4 |
4 |
5 $Id$ |
5 $Id$ |
6 |
6 |
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7 vim: spelllang=en spell |
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8 |
7 ------------------------------------------------------------------------------- |
9 ------------------------------------------------------------------------------- |
8 |
10 |
9 General Features: |
11 General Features: |
10 |
12 |
11 * Runs as kernel module for Linux 2.6. |
13 * EtherCAT master implementation conforming to IEC/PAS 62407. |
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14 - Runs as kernel module for Linux 2.6. |
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15 - Multiple masters possible on one machine. |
12 |
16 |
13 * Comes with EtherCAT-capable network driver for serveral network interface |
17 * EtherCAT-capable versions of standard Linux drivers for wide-spread |
14 cards. |
18 Ethernet devices. |
15 - Interrupt-less network driver operation. |
19 - Interrupt-less operation of Ethernet devices. |
16 - Easy implementation of additional network drivers through common device |
20 - Easy implementation of additional Ethernet drivers through common device |
17 interface of the master. |
21 interface of the master. |
18 - Runs even with PCMCIA cards. |
22 - Operation possible with any device supported by the standard drivers, |
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23 including PCMCIA devices. |
19 |
24 |
20 * Supports multiple EtherCAT masters on one machine. |
25 * Supports any realtime environment through independent architecture. |
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26 - RTAI, Xenomai, RT-Preempt, etc. |
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27 - Operation possible even without any realtime extension. |
21 |
28 |
22 * Supports any realtime extension through independent architecture. |
29 * Common API for Realtime-Applications in kernel- and userspace. |
23 - RTAI, IPIPE, ADEOS, etc. |
30 - Requesting and releasing masters. |
24 - Runs well even without realtime extension. |
31 - Dynamic slave configuration, even for slaves that are offline. |
25 |
32 - Detailed configuration of the slaves' Pdos and Sdos. |
26 * Common kernel interface for realtime modules using EtherCAT functionality. |
33 - Creation of process data domains (see below). Registration of Pdo entries |
27 - Synchronous transmission and reception of EtherCAT frames. |
34 for exchange within a domain. |
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35 - Monitoring the states of masters, slave configurations and domains. |
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36 - Sdo handlers for application-triggered CoE transfers (see below). |
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37 - VoE handlers for Vendor-specific mailbox protocols (see below). |
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38 - Similar userspace implementation of the kernel API via a C-library. |
28 - Avoidance of unnecessary copy operations for process data. |
39 - Avoidance of unnecessary copy operations for process data. |
29 |
40 |
30 * Separating slave groups through domains. |
41 * Separating slave groups through domains. |
31 - Handling of multiple slave groups with different sampling rates. |
42 - Handling of multiple slave groups with different sampling rates. |
32 - Automatic calculation of process data mapping, FMMU- and sync manager |
43 - Automatic calculation of process data mapping, FMMU- and sync manager |
33 configuration within the domains. |
44 configuration within the domains. |
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45 - Process data exchange can be monitored via a per-domain mechanism. |
34 |
46 |
35 * Master finite state machine (FSM). |
47 * Master finite state machine (FSM). |
36 - Bus monitoring during realtime operation. |
48 - The same state machine runs when the master is idle and also when an |
37 - Automatic reconfiguration of slaves on bus power failure during realtime |
49 application is connected. |
38 operation. |
50 - Bus monitoring. Slave states are read cyclically. Automatic scanning of the |
39 - Setting slave states during realtime operation. |
51 bus on a topology change. |
40 |
52 - Automatic configuration of slaves, if a application-layer state change is |
41 * Special IDLE mode, when master is not in use. |
53 requested. |
42 - Automatic scanning of slaves upon topology changes. |
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43 - Bus visualisation and EoE processing without realtime process connected. |
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44 |
54 |
45 * Implementation of the CANopen-over-EtherCAT (CoE) protocol. |
55 * Implementation of the CANopen-over-EtherCAT (CoE) protocol. |
46 - Configuration of CoE-capable slaves via Sdo interface. |
56 - Configuration of CoE-capable slaves. |
47 - Sdo information service (dictionary listing). |
57 - Sdo information service (dictionary listing). |
48 - Sdo access via the realtime interface. |
58 - Sdo transfers via the application interface and the command-line tool. |
49 |
59 |
50 * Implementation of the Ethernet-over-EtherCAT (EoE) protocol. |
60 * Implementation of the Ethernet-over-EtherCAT (EoE) protocol. |
51 - Creates virtual network devices that are automatically coupled to |
61 - Creates a virtual network interface for any EoE-capable slave. |
52 EoE-capable slaves. |
62 - Natively supports either a switched or a routed EoE network |
53 - Thus natively supports either a switched or a routed EoE network |
63 architecture. |
54 architecture with standard GNU/Linux tools. |
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55 |
64 |
56 * User space interface via a command-line tool 'ethercat'. |
65 * Userspace command-line tool 'ethercat'. |
57 - Detailed information about master, slaves and the bus configuration. |
66 - Detailed information about master, slaves, domains and bus configuration. |
58 - Slave SII reading and writing. |
67 - Reading/Writing alias addresses. |
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68 - Listing slave configurations. |
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69 - Viewing process data. |
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70 - Sdo download/upload; listing Sdo dictionaries. |
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71 - Access to slave registers. |
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72 - Slave SII (EEPROM) access. |
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73 - Requesting application-layer states. |
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74 - Generation of slave description XML from existing slaves. |
59 |
75 |
60 * Seamless integration in your favourite GNU/Linux distibution. |
76 * Seamless integration in any GNU/Linux distribution. |
61 - Master and network device configuration via sysconfig files. |
77 - Master and Ethernet device configuration via sysconfig file. |
62 - "Linux standard base"-compatible init script for master control. |
78 - "Linux standard base"-compatible init script for master control. |
63 |
79 |
64 * Virtual read-only network interface for debugging purposes and for |
80 * Virtual read-only network interface for debugging and traffic monitoring |
65 monitoring the EtherCAT traffic (through Wireshark, or others). |
81 purposes (using Wireshark, etc.). No additional hardware necessary. |
66 |
82 |
67 ------------------------------------------------------------------------------- |
83 ------------------------------------------------------------------------------- |