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FEATURES.md

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This is the FEATURES file of the IgH EtherCAT Master.

vim: spelllang=en spell

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.
    • RTDM Interface for userspace realtime environments
    • 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.