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embedded_systems:ethercat:start [2019-03-05 12:46]
mgehrig2
embedded_systems:ethercat:start [2019-06-26 15:49] (aktuell)
Graf Urs
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 ====== EtherCAT ====== ====== EtherCAT ======
  
-  * [[https://​www.ethercat.org/​en/​technology.html | Detailed description EtherCAT]] 
   * EtherCAT is a real-time capable fieldbus system.   * 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.   * A PC with real-time OS, like Linux with RT-patch, and Ethernet hardware can be used as the master.
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-This article deals mainly with Linux-based masters.+This article deals mainly with Linux based masters.
  
-<​box ​28% right | Documantation>+<​box ​32% right | Documentation>
   * {{:​embedded_systems:​ethercat:​ec-master_classb.pdf|Acontis Stack Class B}}   * {{:​embedded_systems:​ethercat:​ec-master_classb.pdf|Acontis Stack Class B}}
   * {{:​embedded_systems:​ethercat:​ec-master_classa.pdf|Acontis Stack Class A}}   * {{:​embedded_systems:​ethercat:​ec-master_classa.pdf|Acontis Stack Class A}}
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 <box 60% left green | Quick Links> <box 60% left green | Quick Links>
-  * [[embedded_systems:​ethercat:​list_of_abbreviations|List of abbreviations]]+  * [[embedded_systems:​ethercat:​list_of_abbreviations|List of Abbreviations]]
   * [[embedded_systems:​ethercat:​understanding_ethercat|Understanding EtherCAT]]   * [[embedded_systems:​ethercat:​understanding_ethercat|Understanding EtherCAT]]
-    * [[embedded_systems:​ethercat:​understanding_ethercat:​understanding_sync_with_dc | Understanding ​synchronisation ​with DC]] +    * [[embedded_systems:​ethercat:​understanding_ethercat:​understanding_sync_with_dc | Understanding ​Synchronisation ​with DC]] 
-  * [[embedded_systems:​ethercat:​understanding_acontis|Understanding the Acontis EtherCAT ​stack]] +  * [[embedded_systems:​ethercat:​understanding_acontis|The Acontis EtherCAT ​Stack]] 
-  * [[embedded_systems:​ethercat:​EtherCatInterface | EtherCatInterface ​and ecmasterlib]]+  * [[embedded_systems:​ethercat:​EtherCatInterface | ecmasterlib ​and EtherCATInterface]]
 </​box>​ </​box>​
  
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 \\ \\
  
-<​box ​28% right blue | Web Links>+<​box ​32% right blue | Web Links> 
 +  * [[https://​www.ethercat.org/​en/​technology.html | Detailed description of EtherCAT]]
   * [[https://​www.acontis.com/​eng/​products/​ethercat/​ec-master/​index.php |Acontis EtherCAT Master]]   * [[https://​www.acontis.com/​eng/​products/​ethercat/​ec-master/​index.php |Acontis EtherCAT Master]]
   * [[https://​github.com/​OpenEtherCATsociety|Open source EtherCAT stack]]   * [[https://​github.com/​OpenEtherCATsociety|Open source EtherCAT stack]]
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-===== Recomended ​Workflow =====+===== Recommended ​Workflow =====
 In this example workflow a Linux based master with Acontis stack and EEROS is used. In this example workflow a Linux based master with Acontis stack and EEROS is used.
  
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   - [[embedded_systems:​ethercat:​install_acontis_stack|Install the Acontis stack on the Linux master]]   - [[embedded_systems:​ethercat:​install_acontis_stack|Install the Acontis stack on the Linux master]]
   - [[embedded_systems:​ethercat:​test_acontis_stack|Test the installed stack]]   - [[embedded_systems:​ethercat:​test_acontis_stack|Test the installed stack]]
-  - [[http://​wiki.eeros.org/​getting_started/​install_and_setup_development_environment|Download]] and [[http://​wiki.eeros.org/​getting_started/​compile_eeros|install]] [[http://​eeros.org/wordpress/|EEROS]] +  - [[http://​wiki.eeros.org/​getting_started/​install_and_setup_development_environment|Download]] and [[http://​wiki.eeros.org/​getting_started/​compile_eeros|install]] [[http://​eeros.org/​|EEROS]] 
-  - [[embedded_systems:​ethercat:​test_eerosTest EEROS with EtherCAT]]+  - Get the [[https://​github.com/​ntb-ch/​ecmasterlib|ecmasterlib ]], build, and install, see [[embedded_systems:​ethercat:​ethercatinterface|ecmasterlib and EtherCATInterface]] 
 +  - Get the [[https://​github.com/​ntb-ch/​etherCATInterfaceElmo | EtherCATInterfaceElmo]],​ build, and install, see [[embedded_systems:​ethercat:​ethercatinterface|ecmasterlib and EtherCATInterface]] and run the example therein. 
 +  - Full example ​with NTB [[embedded_systems:​ethercat:​teststand|teststand]]
  
 +===== ecmasterlib,​ EtherCATInterface and EEROS =====
 +The ''​ecmasterlib''​ 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 [[https://​www.acontis.com/​en/​ecmaster.html | Acontis stack (class A)]]. It is based on the demo application ''​EcMasterDemoDC''​ from Acontis. ''​EtherCATInterfaceElmo''​ interface is specific for [[https://​www.elmomc.com/​product/​gold-twitter/​ | Gold Twitter]] drives from ElmoMC. Other drives (i.e. Maxon Maxpos 50/5) need a different interface.
 +You may copy and adapt ''​EtherCATInterfaceElmo''​ for your drive type.
  
-===== ecmasterlib and EtherCatInterface ===== +[[https://​github.com/​eeros-project/​eeros-framework|EEROS]] > ''​[[https://​github.com/ntb-ch/etherCATInterfaceElmo ​EtherCATInterfaceElmo]]'' ​''​[[https://​github.com/ntb-ch/ecmasterlib ​ecmasterlib ​& EtherCATInterfaceBase]]'' ​[[https://​www.acontis.com/​de/​ecmaster.html | Acontis ​Stack]]
-The ''​ecmasterilb''​ and ''​EtherCatInterface''​ offer a relative easy way to use EtherCAT with EEROS or in standalone project. +
- +
-''​EtherCatInterfaceElmo''​ interface specific for [[https://www.elmomc.com/product/​gold-twitter/ | 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. +
- +
-''​EtherCatInterfaceBase''​ is the base interface to ''​ecmasterlib''​. +
-It is inherited by all EtherCatInterfaces. +
- +
-''​ecmasterlib'' ​offers the low level interface to the [[https://​www.acontis.com/​en/​ecmaster.html | Acontis ​stack (class A)]]+
-It is based on the demo application ''​EcMasterDemoDC''​ from Acontis. +
- +
-''​EtherCatInterfaceElmo''​ > ''​EtherCatInterfaceBase''​ > ''​ecmasterlib''​ > Acontis Stack+
  
 [[embedded_systems:​ethercat:​EtherCatInterface | Detailed description]] [[embedded_systems:​ethercat:​EtherCatInterface | Detailed description]]
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   * [[embedded_systems:​ethercat:​wireshark | Wireshark]]   * [[embedded_systems:​ethercat:​wireshark | Wireshark]]
  
-======= TODO ====== + 
-  * Lizenzen ​Acontis +===== Teststand ​===== 
-  * installation eeros; funktioniert das noch?+The "​EC-Teststand"​ (EtherCAT test setup) is a setup with 2 Elmo Drives, 2 motors, powersupply and PC with RT-Linux and the following software: 
 +  * Acontis ​EtherCAT stack 
 +  * EEROS 
 +  * ecmasterlib 
 +  * EtherCATInterfaceElmo including test application 
 + 
 +More detailed description [[embedded_systems:​ethercat:​teststand | here]]. 
 + 
 +===== Contact Acontis ===== 
 + ​Christoph Widmann 
 + ​Geschäftsführer / Managing Director \\ 
 + ​acontis technologies GmbH \\ 
 + ​St.-Konrad-Str. 51, 88250 Weingarten, Germany \\ 
 + ​Phone:​ +49 (0) 751 5 60 30 32 \\ 
 +http://​www.acontis.com