16 |
16 |
17 * EtherCAT-capable versions of standard Linux drivers for wide-spread |
17 * EtherCAT-capable versions of standard Linux drivers for wide-spread |
18 Ethernet devices. |
18 Ethernet devices. |
19 - Interrupt-less operation of Ethernet devices. |
19 - Interrupt-less operation of Ethernet devices. |
20 - Easy implementation of additional Ethernet drivers through common device |
20 - Easy implementation of additional Ethernet drivers through common device |
21 interface of the master. |
21 interface. |
22 - Operation possible with any device supported by the standard drivers, |
22 - Operation possible with any device supported by the standard drivers, |
23 including PCMCIA devices. |
23 including PCMCIA devices. |
24 |
24 |
25 * Supports any realtime environment through independent architecture. |
25 * Supports any realtime environment through independent architecture. |
26 - RTAI, Xenomai, RT-Preempt, etc. |
26 - RTAI, Xenomai, RT-Preempt, etc. |
27 - Operation possible even without any realtime extension. |
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. |
43 - Automatic calculation of process data mapping, FMMU- and sync manager |
43 - Automatic calculation of process data mapping, FMMU- and sync manager |
44 configuration within the domains. |
44 configuration within the domains. |
45 - Process data exchange can be monitored via a per-domain mechanism. |
45 - Process data exchange can be monitored via a per-domain mechanism. |
46 |
46 |
47 * Master finite state machine (FSM). |
47 * Master finite state machine (FSM). |
48 - The same state machine runs when the master is idle and also when an |
48 - The same state machine runs both in idle mode and in realtime operation. |
49 application is connected. |
49 - Bus monitoring: Slave states are read cyclically. Automatic scanning of the |
50 - Bus monitoring. Slave states are read cyclically. Automatic scanning of the |
50 bus after a topology change. |
51 bus on a topology change. |
|
52 - Automatic configuration of slaves, if a application-layer state change is |
51 - Automatic configuration of slaves, if a application-layer state change is |
53 requested. |
52 requested. |
54 |
53 |
55 * Implementation of the CANopen-over-EtherCAT (CoE) protocol. |
54 * Implementation of the CANopen-over-EtherCAT (CoE) mailbox protocol. |
56 - Configuration of CoE-capable slaves. |
55 - Configuration of CoE-capable slaves. |
57 - Sdo information service (dictionary listing). |
56 - Sdo information service (dictionary listing). |
58 - Sdo transfers via the application interface and the command-line tool. |
57 - Sdo transfers both via the application interface and the command-line tool. |
59 |
58 |
60 * Implementation of the Ethernet-over-EtherCAT (EoE) protocol. |
59 * Implementation of the Ethernet-over-EtherCAT (EoE) mailbox protocol. |
61 - Creates a virtual network interface for any EoE-capable slave. |
60 - Virtual network interface for any EoE-capable slave. |
62 - Natively supports either a switched or a routed EoE network |
61 - Both a switched and a routed EoE network architecture is natively supported |
63 architecture. |
62 and configurable with standard tools. |
|
63 |
|
64 * Implementation of the Vendor-specific-over-EtherCAT (VoE) mailbox protocol. |
|
65 - Communication with vendor-specific mailbox protocols via the API. |
64 |
66 |
65 * Userspace command-line tool 'ethercat'. |
67 * Userspace command-line tool 'ethercat'. |
66 - Detailed information about master, slaves, domains and bus configuration. |
68 - Detailed information about master, slaves, domains and bus configuration. |
67 - Reading/Writing alias addresses. |
69 - Reading/Writing alias addresses. |
68 - Listing slave configurations. |
70 - Listing slave configurations. |
69 - Viewing process data. |
71 - Viewing process data. |
70 - Sdo download/upload; listing Sdo dictionaries. |
72 - Sdo download/upload; listing Sdo dictionaries. |
71 - Access to slave registers. |
73 - Access to slave registers. |
72 - Slave SII (EEPROM) access. |
74 - Slave SII (EEPROM) access. |
73 - Requesting application-layer states. |
75 - Controlling application-layer states. |
74 - Generation of slave description XML from existing slaves. |
76 - Generation of slave description XML from existing slaves. |
75 |
77 |
76 * Seamless integration in any GNU/Linux distribution. |
78 * Seamless integration in any GNU/Linux distribution. |
|
79 - "Linux Standard Base"-compatible init script for master control. |
77 - Master and Ethernet device configuration via sysconfig file. |
80 - Master and Ethernet device configuration via sysconfig file. |
78 - "Linux standard base"-compatible init script for master control. |
|
79 |
81 |
80 * Virtual read-only network interface for debugging and traffic monitoring |
82 * Virtual read-only network interface for debugging and traffic monitoring |
81 purposes (using Wireshark, etc.). No additional hardware necessary. |
83 purposes (using Wireshark, etc.). No additional hardware necessary. |
82 |
84 |
83 ------------------------------------------------------------------------------- |
85 ------------------------------------------------------------------------------- |