FEATURES
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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 EĀ²PROM 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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