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This is the FEATURES file of the IgH EtherCAT Master.
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General Features:
* EtherCAT master implementation conforming to IEC/PAS 62407.
- Runs as kernel module for Linux 2.6.
- Multiple masters possible on one machine.
* Native EtherCAT-capable versions of standard Linux drivers for wide-spread
Ethernet devices, as well as a generic driver for all chips supported by the
Linux kernel.
- Interrupt-less operation of Ethernet devices when using native drivers.
- Easy implementation of additional native Ethernet drivers through common
device interface.
- Operation possible with any device supported by the standard drivers,
including PCMCIA devices.
- For any other hardware, the generic driver can be used. It uses the lower
layers of the Linux network stack.
* Supports any realtime environment through independent architecture.
- RTAI, Xenomai, RT-Preempt, etc.
- Operation possible without any realtime extension at all.
* Common API for Realtime-Applications in kernel- and userspace.
- Requesting and releasing masters.
- Dynamic slave configuration, even for slaves that are offline.
- Detailed configuration of the slaves' PDOs and SDOs.
- Creation of process data domains (see below). Registration of PDO entries
for exchange within a domain.
- Monitoring the states of masters, slave configurations and domains.
- SDO handlers for application-triggered CoE transfers (see below).
- VoE handlers for Vendor-specific mailbox protocols (see below).
- Similar userspace implementation of the kernel API via a C-library.
- Avoidance of unnecessary copy operations for process data.
* Separating slave groups through domains.
- Handling of multiple slave groups with different sampling rates.
- Automatic calculation of process data mapping, FMMU- and sync manager
configuration within the domains.
- Process data exchange can be monitored via a per-domain mechanism.
* Master finite state machine (FSM).
- The same state machine runs both in idle mode and in realtime operation.
- Bus monitoring: Slave states are read cyclically. Automatic scanning of the
bus after a topology change.
- Automatic configuration of slaves, if a application-layer state change is
requested.
* Implementation of the "CANopen over EtherCAT" (CoE) mailbox protocol.
- Configuration of CoE-capable slaves.
- SDO information service (dictionary listing).
- SDO transfers both via the application interface and the command-line tool.
* Implementation of the "Ethernet over EtherCAT" (EoE) mailbox protocol.
- Virtual network interface for any EoE-capable slave.
- Both a switched and a routed EoE network architecture is natively supported
and configurable with standard tools.
* Implementation of the "Vendor-specific over EtherCAT" (VoE) mailbox protocol.
- Communication with vendor-specific mailbox protocols via the API.
* Implementation of the "File Access over EtherCAT" (FoE) mailbox protocol.
- Loading and storing files via the command-line tool.
- Updating a slave's firmware can be done easily.
* Userspace command-line tool 'ethercat'.
- Detailed information about master, slaves, domains and bus configuration.
- Setting the master's debug level.
- Reading/Writing alias addresses.
- Listing slave configurations.
- Viewing process data.
- SDO download/upload; listing SDO dictionaries.
- Loading and storing files via FoE.
- Access to slave registers.
- Slave SII (EEPROM) access.
- Controlling application-layer states.
- Generation of slave description XML from existing slaves.
* Seamless integration in any GNU/Linux distribution.
- "Linux Standard Base"-compatible init script for master control.
- Master and Ethernet device configuration via sysconfig file.
* Virtual read-only network interface for debugging and traffic monitoring
purposes (using Wireshark, etc.). No additional hardware necessary.
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