2 |
2 |
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 |
|
7 vim: spelllang=en spell |
|
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. |
|
14 - Runs as kernel module for Linux 2.6. |
|
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. |
18 - Runs even with PCMCIA cards. |
22 - Operation possible with any device supported by the standard drivers, |
|
23 including PCMCIA devices. |
19 |
24 |
20 * Supports multiple EtherCAT masters on one machine. |
25 * Supports any realtime environment through independent architecture. |
|
26 - RTAI, Xenomai, RT-Preempt, etc. |
|
27 - Operation possible without any realtime extension at all. |
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. |
|
35 - Monitoring the states of masters, slave configurations and domains. |
|
36 - Sdo handlers for application-triggered CoE transfers (see below). |
28 - Avoidance of unnecessary copy operations for process data. |
37 - Avoidance of unnecessary copy operations for process data. |
29 |
38 |
30 * Separating slave groups through domains. |
39 * Separating slave groups through domains. |
31 - Handling of multiple slave groups with different sampling rates. |
40 - Handling of multiple slave groups with different sampling rates. |
32 - Automatic calculation of process data mapping, FMMU- and sync manager |
41 - Automatic calculation of process data mapping, FMMU- and sync manager |
33 configuration within the domains. |
42 configuration within the domains. |
|
43 - Process data exchange can be monitored via a per-domain mechanism. |
34 |
44 |
35 * Master finite state machine (FSM). |
45 * Master finite state machine (FSM). |
36 - Bus monitoring during realtime operation. |
46 - The same state machine runs both in idle mode and in realtime operation. |
37 - Automatic reconfiguration of slaves on bus power failure during realtime |
47 - Bus monitoring: Slave states are read cyclically. Automatic scanning of the |
38 operation. |
48 bus after a topology change. |
39 - Setting slave states during realtime operation. |
49 - Automatic configuration of slaves, if a application-layer state change is |
|
50 requested. |
40 |
51 |
41 * Special IDLE mode, when master is not in use. |
52 * Implementation of the CANopen-over-EtherCAT (CoE) mailbox protocol. |
42 - Automatic scanning of slaves upon topology changes. |
53 - Configuration of CoE-capable slaves. |
43 - Bus visualisation and EoE processing without realtime process connected. |
54 - Sdo information service (dictionary listing). |
|
55 - Sdo transfers both via the application interface and the command-line tool. |
44 |
56 |
45 * Implementation of the CANopen-over-EtherCAT (CoE) protocol. |
57 * Implementation of the Ethernet-over-EtherCAT (EoE) mailbox protocol. |
46 - Configuration of CoE-capable slaves via Sdo interface. |
58 - Virtual network interface for any EoE-capable slave. |
47 - Sdo information service (dictionary listing). |
59 - Both a switched and a routed EoE network architecture is natively supported |
48 - Sdo access via the realtime interface. |
60 and configurable with standard tools. |
49 |
61 |
50 * Implementation of the Ethernet-over-EtherCAT (EoE) protocol. |
62 * Userspace command-line tool 'ethercat'. |
51 - Creates virtual network devices that are automatically coupled to |
63 - Detailed information about master, slaves, domains and bus configuration. |
52 EoE-capable slaves. |
64 - Reading/Writing alias addresses. |
53 - Thus natively supports either a switched or a routed EoE network |
65 - Listing slave configurations. |
54 architecture with standard GNU/Linux tools. |
66 - Viewing process data. |
|
67 - Sdo download/upload; listing Sdo dictionaries. |
|
68 - Slave SII (EEPROM) access. |
|
69 - Controlling application-layer states. |
|
70 - Generation of slave description XML from existing slaves. |
55 |
71 |
56 * User space interface via a command-line tool 'ethercat'. |
72 * Seamless integration in any GNU/Linux distribution. |
57 - Detailed information about master, slaves and the bus configuration. |
73 - "Linux Standard Base"-compatible init script for master control. |
58 - Slave SII reading and writing. |
74 - Master and Ethernet device configuration via sysconfig file. |
59 |
75 |
60 * Seamless integration in your favourite GNU/Linux distibution. |
76 * Virtual read-only network interface for debugging and traffic monitoring |
61 - Master and network device configuration via sysconfig files. |
77 purposes (using Wireshark, etc.). No additional hardware necessary. |
62 - "Linux standard base"-compatible init script for master control. |
|
63 |
|
64 * Virtual read-only network interface for debugging purposes and for |
|
65 monitoring the EtherCAT traffic (through Wireshark, or others). |
|
66 |
78 |
67 ------------------------------------------------------------------------------- |
79 ------------------------------------------------------------------------------- |