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     2 

     3 This is the FEATURES file of the IgH EtherCAT Master.

     4 

     5 $Id$

     6 

     7 -------------------------------------------------------------------------------

     8 

     9 General Features:

    10 

    11 * Runs as kernel module for Linux 2.6.

    12 

    13 * Comes with EtherCAT-capable network driver for RTL8139 and compatible

    14   network interface cards.

    15   - Interrupt-less network driver operation.

    16   - Easy implementation of additional network drivers through common device

    17     interface of the master.

    18   - Runs even with PCMCIA cards.

    19 

    20 * Supports multiple EtherCAT masters on one machine.

    21 

    22 * Supports any realtime extension through independent architecture.

    23   - RTAI, IPIPE, ADEOS, etc.

    24   - Runs well even without realtime extensions.

    25 

    26 * Common kernel interface, for realtime modules using EtherCAT functionality.

    27   - Synchronous and asynchronous sending and receiving of frames.

    28   - Avoidance of unnecessary copy operations for process data.

    29 

    30 * Separating slave groups through domains.

    31   - Handling of multiple slave groups with different sampling rates.

    32   - Automatic calculation of process data mapping, FMMU- and sync manager

    33     configuration within the domains.

    34 

    35 * Master finite state machine (FSM). Thus:

    36   - Bus monitoring during realtime operation.

    37   - Automatic reconfiguration of slaves on bus power failure during realtime

    38     operation.

    39   - Controlling of slave states during realtime operation.

    40 

    41 * Free-Run mode, if master is idle.

    42   - Automatic scanning of slaves upon topology changes.

    43   - Bus visualisation and EoE processing without realtime process connected.

    44 

    45 * Implements the CANopen-over-EtherCAT (CoE) protocol.

    46   - Configuration of CoE-capable slaves via SDO interface.

    47   - SDO dictionary listing.

    48 

    49 * Implements the Ethernet-over-EtherCAT (EoE) protocol.

    50   - Creates virtual network devices that are automatically coupled to

    51     EoE-capable	slaves.

    52   - Thus natively supports either a switched or a routed EoE network

    53     architecture.

    54 

    55 * User space interface via the System Filesystem (SysFS).

    56   - User space tool for bus visualisation.

    57   - Slave E²PROM image reading and writing.

    58 

    59 * Seamless integration in your favourite Linux distibution.

    60   - Master and network device configuration via sysconfig files.

    61   - UnitedLinux compatible init script for master control.

    62 

    63 * Virtual read-only network interface for debugging purposes and for

    64   "sniffing" the EtherCAT traffic (through Ethereal, or others).

    65 

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