27 - Operation possible without any realtime extension at all. |
27 - Operation possible without any realtime extension at all. |
28 |
28 |
29 * Common API for Realtime-Applications in kernel- and userspace. |
29 * Common API for Realtime-Applications in kernel- and userspace. |
30 - Requesting and releasing masters. |
30 - Requesting and releasing masters. |
31 - Dynamic slave configuration, even for slaves that are offline. |
31 - Dynamic slave configuration, even for slaves that are offline. |
32 - Detailed configuration of the slaves' Pdos and Sdos. |
32 - Detailed configuration of the slaves' PDOs and SDOs. |
33 - Creation of process data domains (see below). Registration of Pdo entries |
33 - Creation of process data domains (see below). Registration of PDO entries |
34 for exchange within a domain. |
34 for exchange within a domain. |
35 - Monitoring the states of masters, slave configurations and domains. |
35 - Monitoring the states of masters, slave configurations and domains. |
36 - Sdo handlers for application-triggered CoE transfers (see below). |
36 - SDO handlers for application-triggered CoE transfers (see below). |
37 - VoE handlers for Vendor-specific mailbox protocols (see below). |
37 - VoE handlers for Vendor-specific mailbox protocols (see below). |
38 - Similar userspace implementation of the kernel API via a C-library. |
38 - Similar userspace implementation of the kernel API via a C-library. |
39 - Avoidance of unnecessary copy operations for process data. |
39 - Avoidance of unnecessary copy operations for process data. |
40 |
40 |
41 * Separating slave groups through domains. |
41 * Separating slave groups through domains. |
49 - Bus monitoring: Slave states are read cyclically. Automatic scanning of the |
49 - Bus monitoring: Slave states are read cyclically. Automatic scanning of the |
50 bus after a topology change. |
50 bus after a topology change. |
51 - Automatic configuration of slaves, if a application-layer state change is |
51 - Automatic configuration of slaves, if a application-layer state change is |
52 requested. |
52 requested. |
53 |
53 |
54 * Implementation of the CANopen-over-EtherCAT (CoE) mailbox protocol. |
54 * Implementation of the CANopen over EtherCAT (CoE) mailbox protocol. |
55 - Configuration of CoE-capable slaves. |
55 - Configuration of CoE-capable slaves. |
56 - Sdo information service (dictionary listing). |
56 - SDO information service (dictionary listing). |
57 - Sdo transfers both via the application interface and the command-line tool. |
57 - SDO transfers both via the application interface and the command-line tool. |
58 |
58 |
59 * Implementation of the Ethernet-over-EtherCAT (EoE) mailbox protocol. |
59 * Implementation of the Ethernet over EtherCAT (EoE) mailbox protocol. |
60 - Virtual network interface for any EoE-capable slave. |
60 - Virtual network interface for any EoE-capable slave. |
61 - Both a switched and a routed EoE network architecture is natively supported |
61 - Both a switched and a routed EoE network architecture is natively supported |
62 and configurable with standard tools. |
62 and configurable with standard tools. |
63 |
63 |
64 * Implementation of the Vendor-specific-over-EtherCAT (VoE) mailbox protocol. |
64 * Implementation of the Vendor specific over EtherCAT (VoE) mailbox protocol. |
65 - Communication with vendor-specific mailbox protocols via the API. |
65 - Communication with vendor-specific mailbox protocols via the API. |
66 |
66 |
67 * Userspace command-line tool 'ethercat'. |
67 * Userspace command-line tool 'ethercat'. |
68 - Detailed information about master, slaves, domains and bus configuration. |
68 - Detailed information about master, slaves, domains and bus configuration. |
69 - Reading/Writing alias addresses. |
69 - Reading/Writing alias addresses. |
70 - Listing slave configurations. |
70 - Listing slave configurations. |
71 - Viewing process data. |
71 - Viewing process data. |
72 - Sdo download/upload; listing Sdo dictionaries. |
72 - SDO download/upload; listing SDO dictionaries. |
73 - Access to slave registers. |
73 - Access to slave registers. |
74 - Slave SII (EEPROM) access. |
74 - Slave SII (EEPROM) access. |
75 - Controlling application-layer states. |
75 - Controlling application-layer states. |
76 - Generation of slave description XML from existing slaves. |
76 - Generation of slave description XML from existing slaves. |
77 |
77 |