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inserted
replaced
1715 |
1715 |
1716 \section{Ethernet-over-EtherCAT (EoE)} |
1716 \section{Ethernet-over-EtherCAT (EoE)} |
1717 \label{sec:eoe} |
1717 \label{sec:eoe} |
1718 \index{EoE} |
1718 \index{EoE} |
1719 |
1719 |
1720 The EtherCAT master implements the Ethernet-over-EtherCAT mailbox protocol to |
1720 The EtherCAT master implements the |
1721 enable the tunneling of Ethernet frames to special slaves, that can either |
1721 Ethernet-over-EtherCAT\nomenclature{EoE}{Ethernet-over-EtherCAT, Mailbox |
1722 have physical Ethernet ports to forward the frames to, or have an own IP stack |
1722 Protocol} mailbox protocol~\cite[sec.~5.7]{alspec} to enable the tunneling of |
1723 to receive the frames. |
1723 Ethernet frames to special slaves, that can either have physical Ethernet |
|
1724 ports to forward the frames to, or have an own IP stack to receive the frames. |
1724 |
1725 |
1725 \paragraph{Virtual Network Interfaces} |
1726 \paragraph{Virtual Network Interfaces} |
1726 |
1727 |
1727 The master creates a virtual EoE network interface for every EoE-capable |
1728 The master creates a virtual EoE network interface for every EoE-capable |
1728 slave. These interfaces are called either |
1729 slave. These interfaces are called either |
1873 |
1874 |
1874 \section{CANopen-over-EtherCAT (CoE)} |
1875 \section{CANopen-over-EtherCAT (CoE)} |
1875 \label{sec:coe} |
1876 \label{sec:coe} |
1876 \index{CoE} |
1877 \index{CoE} |
1877 |
1878 |
1878 The CANopen-over-EtherCAT protocol \cite[sec.~5.6]{alspec} is used to |
1879 The CANopen-over-EtherCAT\nomenclature{CoE}{CANopen-over-EtherCAT, Mailbox |
1879 configure slaves and exchange data objects on application level. |
1880 Protocol} protocol~\cite[sec.~5.6]{alspec} is used to configure slaves and |
|
1881 exchange data objects on application level. |
1880 |
1882 |
1881 % TODO |
1883 % TODO |
1882 % |
1884 % |
1883 % Download / Upload |
1885 % Download / Upload |
1884 % Expedited / Normal |
1886 % Expedited / Normal |