19 |
19 |
20 * Supports multiple EtherCAT masters on one machine. |
20 * Supports multiple EtherCAT masters on one machine. |
21 |
21 |
22 * Supports any realtime extension through independent architecture. |
22 * Supports any realtime extension through independent architecture. |
23 - RTAI, IPIPE, ADEOS, etc. |
23 - RTAI, IPIPE, ADEOS, etc. |
24 - Runs well even without realtime extensions. |
24 - Runs well even without realtime extension. |
25 |
25 |
26 * Common kernel interface, for realtime modules using EtherCAT functionality. |
26 * Common kernel interface for realtime modules using EtherCAT functionality. |
27 - Synchronous and asynchronous sending and receiving of frames. |
27 - Synchronous transmission and reception of EtherCAT frames. |
28 - Avoidance of unnecessary copy operations for process data. |
28 - Avoidance of unnecessary copy operations for process data. |
29 |
29 |
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 |
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 - Controlling of 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 * Implements 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 dictionary listing. |
48 |
48 |
49 * Implements the Ethernet-over-EtherCAT (EoE) protocol. |
49 * Implementation of the Ethernet-over-EtherCAT (EoE) protocol. |
50 - Creates virtual network devices that are automatically coupled to |
50 - Creates virtual network devices that are automatically coupled to |
51 EoE-capable slaves. |
51 EoE-capable slaves. |
52 - Thus natively supports either a switched or a routed EoE network |
52 - Thus natively supports either a switched or a routed EoE network |
53 architecture. |
53 architecture with standard GNU/Linux tools. |
54 |
54 |
55 * User space interface via the System Filesystem (SysFS). |
55 * User space interface via the system filesystem (Sysfs). |
56 - User space tool for bus visualisation. |
56 - Detailed information about master and slaves in a tree structure. |
57 - Slave E²PROM image reading and writing. |
57 - User space tool 'lsec' for quick bus visualisation. |
|
58 - Slave EEPROM image reading and writing. |
58 |
59 |
59 * Seamless integration in your favourite Linux distibution. |
60 * Seamless integration in your favourite GNU/Linux distibution. |
60 - Master and network device configuration via sysconfig files. |
61 - Master and network device configuration via sysconfig files. |
61 - UnitedLinux compatible init script for master control. |
62 - "Linux standard base"-compatible init script for master control. |
62 |
63 |
63 * Virtual read-only network interface for debugging purposes and for |
64 * Virtual read-only network interface for debugging purposes and for |
64 "sniffing" the EtherCAT traffic (through Ethereal, or others). |
65 monitoring the EtherCAT traffic (through Wireshark, or others). |
65 |
66 |
66 ------------------------------------------------------------------------------- |
67 ------------------------------------------------------------------------------- |