EtherCAT

  • EtherCAT is a real-time capable fieldbus system.
  • A PC with real-time OS, like Linux with RT-patch, and Ethernet hardware can be used as the master.
  • The slaves require special EtherCAT hardware.
  • With EtherCAT, data packets, so-called PDOs (process data objects), are sent cyclically from the master to the slaves and from the slaves to the master.
  • A PDO can, for example, be an encoder value or an output value for a drive.
  • Acyclic messages, so-called SDOs (service data objects), are not discussed in this documentation.

This article deals mainly with Linux based masters.


ecmasterlib, EtherCatInterface and EEROS

The ecmasterilb and EtherCatInterface offer a relative easy way to use EtherCAT with EEROS or in a standalone project.

ecmasterlib offers the low level interface to the Acontis stack (class A). It is based on the demo application EcMasterDemoDC from Acontis.

EtherCatInterfaceElmo interface specific for Gold Twitter drives from ElmoMC. Other drive (i.e. Maxon Maxpos 50/5) need a different interface. You may want to copy and adapt EtherCatInterfaceElmo for your drive type.

EtherCatInterfaceBase is the base interface to ecmasterlib. It is inherited by all EtherCatInterfaces.

If you want to use EtherCAT in an EEROS application, the ecmasterlib with a EtherCatInterface is recomended.

EEROS > EtherCatInterfaceElmo > EtherCatInterfaceBase > ecmasterlib > Acontis Stack

Detailed description

Troubleshooting

TODO

  • Lizenzen Acontis
  • installation eeros; funktioniert das noch?